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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-attribs">Protected 属性</a> &#124;
<a href="classpcl_1_1_range_image_planar-members.html">所有成员列表</a>  </div>
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<div class="title">pcl::RangeImagePlanar类 参考</div>  </div>
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<p><b><a class="el" href="classpcl_1_1_range_image_planar.html" title="RangeImagePlanar is derived from the original range image and differs from it because it&#39;s not a sphe...">RangeImagePlanar</a></b> is derived from the original range image and differs from it because it's not a spherical projection, but using a projection plane (as normal cameras do), therefore being better applicable for range sensors that already provide a range image by themselves (stereo cameras, ToF-cameras), so that a conversion to point cloud and then to a spherical range image becomes unnecessary.  
 <a href="classpcl_1_1_range_image_planar.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="range__image__planar_8h_source.html">range_image_planar.h</a>&gt;</code></p>
<div class="dynheader">
类 pcl::RangeImagePlanar 继承关系图:</div>
<div class="dyncontent">
 <div class="center">
  <img src="classpcl_1_1_range_image_planar.png" usemap="#pcl::RangeImagePlanar_map" alt=""/>
  <map id="pcl::RangeImagePlanar_map" name="pcl::RangeImagePlanar_map">
<area href="classpcl_1_1_range_image.html" title="RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where..." alt="pcl::RangeImage" shape="rect" coords="0,56,208,80"/>
<area href="classpcl_1_1_point_cloud.html" alt="pcl::PointCloud&lt; PointWithRange &gt;" shape="rect" coords="0,0,208,24"/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:af97f4238b576879e332cf8cb5aa49f33"><td class="memItemLeft" align="right" valign="top"><a id="af97f4238b576879e332cf8cb5aa49f33"></a>
typedef <a class="el" href="classpcl_1_1_range_image.html">RangeImage</a>&#160;</td><td class="memItemRight" valign="bottom"><b>BaseClass</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_range_image_planar.html">RangeImagePlanar</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_range_image_planar.html">RangeImagePlanar</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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<tr class="memitem:a8b5785b0499f0a70d5c87fceba55992f inherit pub_types_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top"><a id="a8b5785b0499f0a70d5c87fceba55992f"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><b>CoordinateFrame</b> { <b>CAMERA_FRAME</b> = 0
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>BaseClass</b></td></tr>
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typedef std::vector&lt; Eigen::Vector3f, Eigen::aligned_allocator&lt; Eigen::Vector3f &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>VectorOfEigenVector3f</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_range_image.html">RangeImage</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_range_image.html">RangeImage</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1_point_cloud"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_point_cloud')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointWithRange &gt;</a></td></tr>
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typedef <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointType</b></td></tr>
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typedef std::vector&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a>, Eigen::aligned_allocator&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>VectorType</b></td></tr>
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typedef std::vector&lt; <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &gt;, Eigen::aligned_allocator&lt; <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &gt; &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>CloudVectorType</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&#160;</td><td class="memItemRight" valign="bottom"><b>value_type</b></td></tr>
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typedef <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>reference</b></td></tr>
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typedef const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>const_reference</b></td></tr>
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typedef VectorType::difference_type&#160;</td><td class="memItemRight" valign="bottom"><b>difference_type</b></td></tr>
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typedef VectorType::size_type&#160;</td><td class="memItemRight" valign="bottom"><b>size_type</b></td></tr>
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typedef VectorType::iterator&#160;</td><td class="memItemRight" valign="bottom"><b>iterator</b></td></tr>
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typedef VectorType::const_iterator&#160;</td><td class="memItemRight" valign="bottom"><b>const_iterator</b></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:aa9f19352f5b5d4655b20fb976c054d18"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#aa9f19352f5b5d4655b20fb976c054d18">RangeImagePlanar</a> ()</td></tr>
<tr class="separator:aa9f19352f5b5d4655b20fb976c054d18"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a397338f0c23eb42ea10c903563e11342"><td class="memItemLeft" align="right" valign="top">virtual PCL_EXPORTS&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#a397338f0c23eb42ea10c903563e11342">~RangeImagePlanar</a> ()</td></tr>
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<tr class="memitem:a32b6b82b559574477544219f4444e12d"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classpcl_1_1_range_image.html">RangeImage</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#a32b6b82b559574477544219f4444e12d">getNew</a> () const</td></tr>
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<tr class="memitem:abd9ed7e2765d0f7cbb64ae9c890543e2"><td class="memItemLeft" align="right" valign="top">virtual PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#abd9ed7e2765d0f7cbb64ae9c890543e2">copyTo</a> (<a class="el" href="classpcl_1_1_range_image.html">RangeImage</a> &amp;other) const</td></tr>
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<tr class="memitem:a139d1db3bb9a43315aa8e360bb2902d1"><td class="memItemLeft" align="right" valign="top"><a id="a139d1db3bb9a43315aa8e360bb2902d1"></a>
Ptr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#a139d1db3bb9a43315aa8e360bb2902d1">makeShared</a> ()</td></tr>
<tr class="memdesc:a139d1db3bb9a43315aa8e360bb2902d1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a boost shared pointer of a copy of this <br /></td></tr>
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<tr class="memitem:a751d0027979b31ccb2dbde563c8af11e"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#a751d0027979b31ccb2dbde563c8af11e">setDisparityImage</a> (const float *disparity_image, int di_width, int di_height, float focal_length, float base_line, float desired_angular_resolution=-1)</td></tr>
<tr class="memdesc:a751d0027979b31ccb2dbde563c8af11e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create the image from an existing disparity image.  <a href="classpcl_1_1_range_image_planar.html#a751d0027979b31ccb2dbde563c8af11e">更多...</a><br /></td></tr>
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<tr class="memitem:ae62978a6c6a5f50a794b930d104ebd24"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#ae62978a6c6a5f50a794b930d104ebd24">setDepthImage</a> (const float *depth_image, int di_width, int di_height, float di_center_x, float di_center_y, float di_focal_length_x, float di_focal_length_y, float desired_angular_resolution=-1)</td></tr>
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<tr class="memitem:a07267e36bbb35ec1e4d43d9001884a00"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#a07267e36bbb35ec1e4d43d9001884a00">setDepthImage</a> (const unsigned short *depth_image, int di_width, int di_height, float di_center_x, float di_center_y, float di_focal_length_x, float di_focal_length_y, float desired_angular_resolution=-1)</td></tr>
<tr class="separator:a07267e36bbb35ec1e4d43d9001884a00"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a47fc71b0700792cb0b078e9bbbc537f5"><td class="memTemplParams" colspan="2">template&lt;typename PointCloudType &gt; </td></tr>
<tr class="memitem:a47fc71b0700792cb0b078e9bbbc537f5"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#a47fc71b0700792cb0b078e9bbbc537f5">createFromPointCloudWithFixedSize</a> (const PointCloudType &amp;point_cloud, int di_width, int di_height, float di_center_x, float di_center_y, float di_focal_length_x, float di_focal_length_y, const Eigen::Affine3f &amp;sensor_pose, CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f)</td></tr>
<tr class="separator:a47fc71b0700792cb0b078e9bbbc537f5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad70f36ae057187661eaf644c83844f33"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#ad70f36ae057187661eaf644c83844f33">calculate3DPoint</a> (float image_x, float image_y, float range, Eigen::Vector3f &amp;point) const</td></tr>
<tr class="memdesc:ad70f36ae057187661eaf644c83844f33"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate the 3D point according to the given image point and range  <a href="classpcl_1_1_range_image_planar.html#ad70f36ae057187661eaf644c83844f33">更多...</a><br /></td></tr>
<tr class="separator:ad70f36ae057187661eaf644c83844f33"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaf84c256b308adaf1147670f957fc95c"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#aaf84c256b308adaf1147670f957fc95c">getImagePoint</a> (const Eigen::Vector3f &amp;point, float &amp;image_x, float &amp;image_y, float &amp;range) const</td></tr>
<tr class="memdesc:aaf84c256b308adaf1147670f957fc95c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate the image point and range from the given 3D point  <a href="classpcl_1_1_range_image_planar.html#aaf84c256b308adaf1147670f957fc95c">更多...</a><br /></td></tr>
<tr class="separator:aaf84c256b308adaf1147670f957fc95c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9fc7e3fe0e7c8745b01c81e20a26678a"><td class="memItemLeft" align="right" valign="top">virtual PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#a9fc7e3fe0e7c8745b01c81e20a26678a">getSubImage</a> (int sub_image_image_offset_x, int sub_image_image_offset_y, int sub_image_width, int sub_image_height, int combine_pixels, <a class="el" href="classpcl_1_1_range_image.html">RangeImage</a> &amp;sub_image) const</td></tr>
<tr class="separator:a9fc7e3fe0e7c8745b01c81e20a26678a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a68bebf8ca1c0c19deaa7769b3a43be7a"><td class="memItemLeft" align="right" valign="top"><a id="a68bebf8ca1c0c19deaa7769b3a43be7a"></a>
virtual PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#a68bebf8ca1c0c19deaa7769b3a43be7a">getHalfImage</a> (<a class="el" href="classpcl_1_1_range_image.html">RangeImage</a> &amp;half_image) const</td></tr>
<tr class="memdesc:a68bebf8ca1c0c19deaa7769b3a43be7a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a range image with half the resolution <br /></td></tr>
<tr class="separator:a68bebf8ca1c0c19deaa7769b3a43be7a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa3165ef71f905675c934684f796fbded"><td class="memItemLeft" align="right" valign="top"><a id="aa3165ef71f905675c934684f796fbded"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#aa3165ef71f905675c934684f796fbded">getFocalLengthX</a> () const</td></tr>
<tr class="memdesc:aa3165ef71f905675c934684f796fbded"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for the focal length in X <br /></td></tr>
<tr class="separator:aa3165ef71f905675c934684f796fbded"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4c39ae227e1b926115d0d199c610840c"><td class="memItemLeft" align="right" valign="top"><a id="a4c39ae227e1b926115d0d199c610840c"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#a4c39ae227e1b926115d0d199c610840c">getFocalLengthY</a> () const</td></tr>
<tr class="memdesc:a4c39ae227e1b926115d0d199c610840c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for the focal length in Y <br /></td></tr>
<tr class="separator:a4c39ae227e1b926115d0d199c610840c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1617298e3285d0d2508984f5f51e3337"><td class="memItemLeft" align="right" valign="top"><a id="a1617298e3285d0d2508984f5f51e3337"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#a1617298e3285d0d2508984f5f51e3337">getCenterX</a> () const</td></tr>
<tr class="memdesc:a1617298e3285d0d2508984f5f51e3337"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for the principal point in X <br /></td></tr>
<tr class="separator:a1617298e3285d0d2508984f5f51e3337"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7c9a1e092b286b7100edfce18bc16f6e"><td class="memItemLeft" align="right" valign="top"><a id="a7c9a1e092b286b7100edfce18bc16f6e"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#a7c9a1e092b286b7100edfce18bc16f6e">getCenterY</a> () const</td></tr>
<tr class="memdesc:a7c9a1e092b286b7100edfce18bc16f6e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for the principal point in Y <br /></td></tr>
<tr class="separator:a7c9a1e092b286b7100edfce18bc16f6e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1acc16b4b5fb7071175bada62a5b75d0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#a1acc16b4b5fb7071175bada62a5b75d0">calculate3DPoint</a> (float image_x, float image_y, float range, <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;point) const</td></tr>
<tr class="separator:a1acc16b4b5fb7071175bada62a5b75d0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0f969bd0149b7848f0f26b44bb88035c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#a0f969bd0149b7848f0f26b44bb88035c">calculate3DPoint</a> (float image_x, float image_y, <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;point) const</td></tr>
<tr class="separator:a0f969bd0149b7848f0f26b44bb88035c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa9e97e7487ac21a77075b5f8b64ca205"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#aa9e97e7487ac21a77075b5f8b64ca205">calculate3DPoint</a> (float image_x, float image_y, float range, Eigen::Vector3f &amp;point) const</td></tr>
<tr class="separator:aa9e97e7487ac21a77075b5f8b64ca205"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abbb77866cf4ee5d2a619f4f8cc62cc9b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#abbb77866cf4ee5d2a619f4f8cc62cc9b">calculate3DPoint</a> (float image_x, float image_y, Eigen::Vector3f &amp;point) const</td></tr>
<tr class="separator:abbb77866cf4ee5d2a619f4f8cc62cc9b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7a53bfc9f4a3365ee8e62513ae37eb5c"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (const Eigen::Vector3f &amp;point, float &amp;image_x, float &amp;image_y, float &amp;range) const</td></tr>
<tr class="separator:a7a53bfc9f4a3365ee8e62513ae37eb5c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9295b795c8f52a90eb3af983612fea8a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#a9295b795c8f52a90eb3af983612fea8a">getImagePoint</a> (const Eigen::Vector3f &amp;point, int &amp;image_x, int &amp;image_y, float &amp;range) const</td></tr>
<tr class="separator:a9295b795c8f52a90eb3af983612fea8a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8b9b678a491ddefc1109494157e0aa83"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#a8b9b678a491ddefc1109494157e0aa83">getImagePoint</a> (const Eigen::Vector3f &amp;point, float &amp;image_x, float &amp;image_y) const</td></tr>
<tr class="separator:a8b9b678a491ddefc1109494157e0aa83"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aac7ef90b9c78876a492fd16701d6578e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#aac7ef90b9c78876a492fd16701d6578e">getImagePoint</a> (const Eigen::Vector3f &amp;point, int &amp;image_x, int &amp;image_y) const</td></tr>
<tr class="separator:aac7ef90b9c78876a492fd16701d6578e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a09c81c4b4ffd68fc5742167d15f6af87"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#a09c81c4b4ffd68fc5742167d15f6af87">getImagePoint</a> (float x, float y, float z, float &amp;image_x, float &amp;image_y, float &amp;range) const</td></tr>
<tr class="separator:a09c81c4b4ffd68fc5742167d15f6af87"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8123412373a87d5030ee5f8a9b3ba3e4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#a8123412373a87d5030ee5f8a9b3ba3e4">getImagePoint</a> (float x, float y, float z, float &amp;image_x, float &amp;image_y) const</td></tr>
<tr class="separator:a8123412373a87d5030ee5f8a9b3ba3e4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2ba0bfce9adcf8161feec7c59f75082c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#a2ba0bfce9adcf8161feec7c59f75082c">getImagePoint</a> (float x, float y, float z, int &amp;image_x, int &amp;image_y) const</td></tr>
<tr class="separator:a2ba0bfce9adcf8161feec7c59f75082c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_range_image"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_range_image')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_range_image.html">pcl::RangeImage</a></td></tr>
<tr class="memitem:af18b2d3410fb7799ad4de375b51df035 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#af18b2d3410fb7799ad4de375b51df035">RangeImage</a> ()</td></tr>
<tr class="separator:af18b2d3410fb7799ad4de375b51df035 inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a274fcd95e5f7c8da5f4f5ecf151bad40 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">virtual PCL_EXPORTS&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a274fcd95e5f7c8da5f4f5ecf151bad40">~RangeImage</a> ()</td></tr>
<tr class="separator:a274fcd95e5f7c8da5f4f5ecf151bad40 inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7f898747aa6a52e484d65babc2600a23 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top"><a id="a7f898747aa6a52e484d65babc2600a23"></a>
Ptr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a7f898747aa6a52e484d65babc2600a23">makeShared</a> ()</td></tr>
<tr class="memdesc:a7f898747aa6a52e484d65babc2600a23 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a boost shared pointer of a copy of this <br /></td></tr>
<tr class="separator:a7f898747aa6a52e484d65babc2600a23 inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acd539d95dd7bbbd1d67db12e9be275b0 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top"><a id="acd539d95dd7bbbd1d67db12e9be275b0"></a>
PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#acd539d95dd7bbbd1d67db12e9be275b0">reset</a> ()</td></tr>
<tr class="memdesc:acd539d95dd7bbbd1d67db12e9be275b0 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reset all values to an empty range image <br /></td></tr>
<tr class="separator:acd539d95dd7bbbd1d67db12e9be275b0 inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a82f6a143de2d73a0ad9fea6c527a2efb inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplParams" colspan="2">template&lt;typename PointCloudType &gt; </td></tr>
<tr class="memitem:a82f6a143de2d73a0ad9fea6c527a2efb inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a82f6a143de2d73a0ad9fea6c527a2efb">createFromPointCloud</a> (const PointCloudType &amp;point_cloud, float angular_resolution=pcl::deg2rad(0.5f), float max_angle_width=pcl::deg2rad(360.0f), float max_angle_height=pcl::deg2rad(180.0f), const Eigen::Affine3f &amp;sensor_pose=Eigen::Affine3f::Identity(), CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)</td></tr>
<tr class="memdesc:a82f6a143de2d73a0ad9fea6c527a2efb inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create the depth image from a point cloud  <a href="classpcl_1_1_range_image.html#a82f6a143de2d73a0ad9fea6c527a2efb">更多...</a><br /></td></tr>
<tr class="separator:a82f6a143de2d73a0ad9fea6c527a2efb inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae3a8a2def6dde7446b9fc456f7992aa9 inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplParams" colspan="2">template&lt;typename PointCloudType &gt; </td></tr>
<tr class="memitem:ae3a8a2def6dde7446b9fc456f7992aa9 inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#ae3a8a2def6dde7446b9fc456f7992aa9">createFromPointCloud</a> (const PointCloudType &amp;point_cloud, float angular_resolution_x=pcl::deg2rad(0.5f), float angular_resolution_y=pcl::deg2rad(0.5f), float max_angle_width=pcl::deg2rad(360.0f), float max_angle_height=pcl::deg2rad(180.0f), const Eigen::Affine3f &amp;sensor_pose=Eigen::Affine3f::Identity(), CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)</td></tr>
<tr class="memdesc:ae3a8a2def6dde7446b9fc456f7992aa9 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create the depth image from a point cloud  <a href="classpcl_1_1_range_image.html#ae3a8a2def6dde7446b9fc456f7992aa9">更多...</a><br /></td></tr>
<tr class="separator:ae3a8a2def6dde7446b9fc456f7992aa9 inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afbb553405d9b1df2b10b08c98c052250 inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplParams" colspan="2">template&lt;typename PointCloudType &gt; </td></tr>
<tr class="memitem:afbb553405d9b1df2b10b08c98c052250 inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#afbb553405d9b1df2b10b08c98c052250">createFromPointCloudWithKnownSize</a> (const PointCloudType &amp;point_cloud, float angular_resolution, const Eigen::Vector3f &amp;point_cloud_center, float point_cloud_radius, const Eigen::Affine3f &amp;sensor_pose=Eigen::Affine3f::Identity(), CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)</td></tr>
<tr class="memdesc:afbb553405d9b1df2b10b08c98c052250 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create the depth image from a point cloud, getting a hint about the size of the scene for faster calculation.  <a href="classpcl_1_1_range_image.html#afbb553405d9b1df2b10b08c98c052250">更多...</a><br /></td></tr>
<tr class="separator:afbb553405d9b1df2b10b08c98c052250 inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac52b84843090cf756a37c596b5e772d2 inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplParams" colspan="2">template&lt;typename PointCloudType &gt; </td></tr>
<tr class="memitem:ac52b84843090cf756a37c596b5e772d2 inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#ac52b84843090cf756a37c596b5e772d2">createFromPointCloudWithKnownSize</a> (const PointCloudType &amp;point_cloud, float angular_resolution_x, float angular_resolution_y, const Eigen::Vector3f &amp;point_cloud_center, float point_cloud_radius, const Eigen::Affine3f &amp;sensor_pose=Eigen::Affine3f::Identity(), CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)</td></tr>
<tr class="memdesc:ac52b84843090cf756a37c596b5e772d2 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create the depth image from a point cloud, getting a hint about the size of the scene for faster calculation.  <a href="classpcl_1_1_range_image.html#ac52b84843090cf756a37c596b5e772d2">更多...</a><br /></td></tr>
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<tr class="memitem:a91cb7406e0e57923a7f5d533ea578c0f inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplParams" colspan="2">template&lt;typename PointCloudTypeWithViewpoints &gt; </td></tr>
<tr class="memitem:a91cb7406e0e57923a7f5d533ea578c0f inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a91cb7406e0e57923a7f5d533ea578c0f">createFromPointCloudWithViewpoints</a> (const PointCloudTypeWithViewpoints &amp;point_cloud, float angular_resolution, float max_angle_width, float max_angle_height, CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)</td></tr>
<tr class="memdesc:a91cb7406e0e57923a7f5d533ea578c0f inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create the depth image from a point cloud, using the average viewpoint of the points (vp_x,vp_y,vp_z in the point type) in the point cloud as sensor pose (assuming a rotation of (0,0,0)).  <a href="classpcl_1_1_range_image.html#a91cb7406e0e57923a7f5d533ea578c0f">更多...</a><br /></td></tr>
<tr class="separator:a91cb7406e0e57923a7f5d533ea578c0f inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a66de72c9511e694d41bd7a48c043f541 inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplParams" colspan="2">template&lt;typename PointCloudTypeWithViewpoints &gt; </td></tr>
<tr class="memitem:a66de72c9511e694d41bd7a48c043f541 inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a66de72c9511e694d41bd7a48c043f541">createFromPointCloudWithViewpoints</a> (const PointCloudTypeWithViewpoints &amp;point_cloud, float angular_resolution_x, float angular_resolution_y, float max_angle_width, float max_angle_height, CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)</td></tr>
<tr class="memdesc:a66de72c9511e694d41bd7a48c043f541 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create the depth image from a point cloud, using the average viewpoint of the points (vp_x,vp_y,vp_z in the point type) in the point cloud as sensor pose (assuming a rotation of (0,0,0)).  <a href="classpcl_1_1_range_image.html#a66de72c9511e694d41bd7a48c043f541">更多...</a><br /></td></tr>
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<tr class="memitem:a46cb318d3d6f1cf6aace8d2ed10ed7fa inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a46cb318d3d6f1cf6aace8d2ed10ed7fa">createEmpty</a> (float angular_resolution, const Eigen::Affine3f &amp;sensor_pose=Eigen::Affine3f::Identity(), RangeImage::CoordinateFrame coordinate_frame=CAMERA_FRAME, float angle_width=pcl::deg2rad(360.0f), float angle_height=pcl::deg2rad(180.0f))</td></tr>
<tr class="memdesc:a46cb318d3d6f1cf6aace8d2ed10ed7fa inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create an empty depth image (filled with unobserved points)  <a href="classpcl_1_1_range_image.html#a46cb318d3d6f1cf6aace8d2ed10ed7fa">更多...</a><br /></td></tr>
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<tr class="memitem:afa9ecf76f97e99ede5b71bb7da6c1715 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#afa9ecf76f97e99ede5b71bb7da6c1715">createEmpty</a> (float angular_resolution_x, float angular_resolution_y, const Eigen::Affine3f &amp;sensor_pose=Eigen::Affine3f::Identity(), RangeImage::CoordinateFrame coordinate_frame=CAMERA_FRAME, float angle_width=pcl::deg2rad(360.0f), float angle_height=pcl::deg2rad(180.0f))</td></tr>
<tr class="memdesc:afa9ecf76f97e99ede5b71bb7da6c1715 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create an empty depth image (filled with unobserved points)  <a href="classpcl_1_1_range_image.html#afa9ecf76f97e99ede5b71bb7da6c1715">更多...</a><br /></td></tr>
<tr class="separator:afa9ecf76f97e99ede5b71bb7da6c1715 inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a56655a55b4c83c7ce301ca0f020759b4 inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplParams" colspan="2">template&lt;typename PointCloudType &gt; </td></tr>
<tr class="memitem:a56655a55b4c83c7ce301ca0f020759b4 inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a56655a55b4c83c7ce301ca0f020759b4">doZBuffer</a> (const PointCloudType &amp;point_cloud, float noise_level, float min_range, int &amp;top, int &amp;right, int &amp;bottom, int &amp;left)</td></tr>
<tr class="memdesc:a56655a55b4c83c7ce301ca0f020759b4 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Integrate the given point cloud into the current range image using a z-buffer  <a href="classpcl_1_1_range_image.html#a56655a55b4c83c7ce301ca0f020759b4">更多...</a><br /></td></tr>
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<tr class="memitem:a6c3ceb66679ccc84587eef5c29a16386 inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplParams" colspan="2"><a id="a6c3ceb66679ccc84587eef5c29a16386"></a>
template&lt;typename PointCloudType &gt; </td></tr>
<tr class="memitem:a6c3ceb66679ccc84587eef5c29a16386 inherit pub_methods_classpcl_1_1_range_image"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a6c3ceb66679ccc84587eef5c29a16386">integrateFarRanges</a> (const PointCloudType &amp;far_ranges)</td></tr>
<tr class="memdesc:a6c3ceb66679ccc84587eef5c29a16386 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Integrates the given far range measurements into the range image <br /></td></tr>
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<tr class="memitem:a20f223d93080e9ce32122f90a265f7c4 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a20f223d93080e9ce32122f90a265f7c4">cropImage</a> (int border_size=0, int top=-1, int right=-1, int bottom=-1, int left=-1)</td></tr>
<tr class="memdesc:a20f223d93080e9ce32122f90a265f7c4 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Cut the range image to the minimal size so that it still contains all actual range readings.  <a href="classpcl_1_1_range_image.html#a20f223d93080e9ce32122f90a265f7c4">更多...</a><br /></td></tr>
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<tr class="memitem:ab124a58f66b1d9a5d0f433c8474ef2b4 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS float *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#ab124a58f66b1d9a5d0f433c8474ef2b4">getRangesArray</a> () const</td></tr>
<tr class="memdesc:ab124a58f66b1d9a5d0f433c8474ef2b4 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get all the range values in one float array of size width*height <br  />
  <a href="classpcl_1_1_range_image.html#ab124a58f66b1d9a5d0f433c8474ef2b4">更多...</a><br /></td></tr>
<tr class="separator:ab124a58f66b1d9a5d0f433c8474ef2b4 inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac503c8e060a6f6b1cae1c1fa87fa6e33 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">const Eigen::Affine3f &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#ac503c8e060a6f6b1cae1c1fa87fa6e33">getTransformationToRangeImageSystem</a> () const</td></tr>
<tr class="separator:ac503c8e060a6f6b1cae1c1fa87fa6e33 inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab0419b66dd9e76fbc6d568049abfad3c inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#ab0419b66dd9e76fbc6d568049abfad3c">setTransformationToRangeImageSystem</a> (const Eigen::Affine3f &amp;to_range_image_system)</td></tr>
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<tr class="memitem:afdff6ffbb3bfec294637225b5fb82956 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">const Eigen::Affine3f &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#afdff6ffbb3bfec294637225b5fb82956">getTransformationToWorldSystem</a> () const</td></tr>
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<tr class="memitem:a6fc3548b0b33e90cead2c1ecfce14c34 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a6fc3548b0b33e90cead2c1ecfce14c34">getAngularResolution</a> () const</td></tr>
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<tr class="memitem:a6522dbfac4997c15bd24b0b9b3e9d4dd inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a6522dbfac4997c15bd24b0b9b3e9d4dd">getAngularResolutionX</a> () const</td></tr>
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<tr class="memitem:af4891c9812652efe513b9ff060490364 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#af4891c9812652efe513b9ff060490364">getAngularResolutionY</a> () const</td></tr>
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<tr class="memitem:a41c0b0f74510988357a56fdc48d18f93 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a41c0b0f74510988357a56fdc48d18f93">getAngularResolution</a> (float &amp;angular_resolution_x, float &amp;angular_resolution_y) const</td></tr>
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<tr class="memitem:a2720450161caef9a2992b0ac943ab2b7 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a2720450161caef9a2992b0ac943ab2b7">setAngularResolution</a> (float angular_resolution)</td></tr>
<tr class="memdesc:a2720450161caef9a2992b0ac943ab2b7 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the angular resolution of the range image  <a href="classpcl_1_1_range_image.html#a2720450161caef9a2992b0ac943ab2b7">更多...</a><br /></td></tr>
<tr class="separator:a2720450161caef9a2992b0ac943ab2b7 inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a74583440e4ef4b611b7d2b638c6da28e inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a74583440e4ef4b611b7d2b638c6da28e">setAngularResolution</a> (float angular_resolution_x, float angular_resolution_y)</td></tr>
<tr class="memdesc:a74583440e4ef4b611b7d2b638c6da28e inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the angular resolution of the range image  <a href="classpcl_1_1_range_image.html#a74583440e4ef4b611b7d2b638c6da28e">更多...</a><br /></td></tr>
<tr class="separator:a74583440e4ef4b611b7d2b638c6da28e inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a52164736793c99cc9fc48dedee615e45 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (int image_x, int image_y) const</td></tr>
<tr class="memdesc:a52164736793c99cc9fc48dedee615e45 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the 3D point with range at the given image position  <a href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">更多...</a><br /></td></tr>
<tr class="separator:a52164736793c99cc9fc48dedee615e45 inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adb229f49ccf885517e905373372b00be inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top"><a id="adb229f49ccf885517e905373372b00be"></a>
<a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#adb229f49ccf885517e905373372b00be">getPoint</a> (int image_x, int image_y)</td></tr>
<tr class="memdesc:adb229f49ccf885517e905373372b00be inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Non-const-version of getPoint <br /></td></tr>
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<tr class="memitem:a0168934416e10ded1eb34d57123b8d37 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a0168934416e10ded1eb34d57123b8d37">getPoint</a> (float image_x, float image_y) const</td></tr>
<tr class="separator:a0168934416e10ded1eb34d57123b8d37 inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa403d6ee9c3d76a50b268204acab27ff inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#aa403d6ee9c3d76a50b268204acab27ff">getPoint</a> (float image_x, float image_y)</td></tr>
<tr class="separator:aa403d6ee9c3d76a50b268204acab27ff inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a587663a5b4123f4c423c9e38a9b36d41 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a587663a5b4123f4c423c9e38a9b36d41">getPointNoCheck</a> (int image_x, int image_y) const</td></tr>
<tr class="memdesc:a587663a5b4123f4c423c9e38a9b36d41 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the 3D point with range at the given image position. This methd performs no error checking to make sure the specified image position is inside of the image!  <a href="classpcl_1_1_range_image.html#a587663a5b4123f4c423c9e38a9b36d41">更多...</a><br /></td></tr>
<tr class="separator:a587663a5b4123f4c423c9e38a9b36d41 inherit pub_methods_classpcl_1_1_range_image"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a45bfd00007940d0043b8f1df43663d07 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a45bfd00007940d0043b8f1df43663d07">getPointNoCheck</a> (int image_x, int image_y)</td></tr>
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<tr class="memitem:a35a8dbb8cc328029a928b3cff4225d5b inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a35a8dbb8cc328029a928b3cff4225d5b">getPoint</a> (int image_x, int image_y, Eigen::Vector3f &amp;point) const</td></tr>
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<tr class="memitem:aa7e520479cc8f66e5ddd7f594649b25f inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#aa7e520479cc8f66e5ddd7f594649b25f">getPoint</a> (int index, Eigen::Vector3f &amp;point) const</td></tr>
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<tr class="memitem:a63716da3dad788cd23b64e9dc67b1791 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">const Eigen::Map&lt; const Eigen::Vector3f &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a63716da3dad788cd23b64e9dc67b1791">getEigenVector3f</a> (int x, int y) const</td></tr>
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<tr class="memitem:aab3ee4df50d138b9f9b4ba34306c1071 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">const Eigen::Map&lt; const Eigen::Vector3f &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#aab3ee4df50d138b9f9b4ba34306c1071">getEigenVector3f</a> (int index) const</td></tr>
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<tr class="memitem:a467a03da34e4ffd323ae0f080ac85570 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a467a03da34e4ffd323ae0f080ac85570">getPoint</a> (int index) const</td></tr>
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<tr class="memitem:a1acc16b4b5fb7071175bada62a5b75d0 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a1acc16b4b5fb7071175bada62a5b75d0">calculate3DPoint</a> (float image_x, float image_y, float range, <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;point) const</td></tr>
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<tr class="memitem:a0f969bd0149b7848f0f26b44bb88035c inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a0f969bd0149b7848f0f26b44bb88035c">calculate3DPoint</a> (float image_x, float image_y, <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;point) const</td></tr>
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<tr class="memitem:abbb77866cf4ee5d2a619f4f8cc62cc9b inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#abbb77866cf4ee5d2a619f4f8cc62cc9b">calculate3DPoint</a> (float image_x, float image_y, Eigen::Vector3f &amp;point) const</td></tr>
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<tr class="memitem:a08d6ccfef80c3788102327df618a3fbf inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a08d6ccfef80c3788102327df618a3fbf">recalculate3DPointPositions</a> ()</td></tr>
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<tr class="memitem:a9295b795c8f52a90eb3af983612fea8a inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a9295b795c8f52a90eb3af983612fea8a">getImagePoint</a> (const Eigen::Vector3f &amp;point, int &amp;image_x, int &amp;image_y, float &amp;range) const</td></tr>
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<tr class="memitem:a8b9b678a491ddefc1109494157e0aa83 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a8b9b678a491ddefc1109494157e0aa83">getImagePoint</a> (const Eigen::Vector3f &amp;point, float &amp;image_x, float &amp;image_y) const</td></tr>
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<tr class="memitem:aac7ef90b9c78876a492fd16701d6578e inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#aac7ef90b9c78876a492fd16701d6578e">getImagePoint</a> (const Eigen::Vector3f &amp;point, int &amp;image_x, int &amp;image_y) const</td></tr>
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<tr class="memitem:a09c81c4b4ffd68fc5742167d15f6af87 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a09c81c4b4ffd68fc5742167d15f6af87">getImagePoint</a> (float x, float y, float z, float &amp;image_x, float &amp;image_y, float &amp;range) const</td></tr>
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<tr class="memitem:a8123412373a87d5030ee5f8a9b3ba3e4 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a8123412373a87d5030ee5f8a9b3ba3e4">getImagePoint</a> (float x, float y, float z, float &amp;image_x, float &amp;image_y) const</td></tr>
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<tr class="memitem:a2ba0bfce9adcf8161feec7c59f75082c inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a2ba0bfce9adcf8161feec7c59f75082c">getImagePoint</a> (float x, float y, float z, int &amp;image_x, int &amp;image_y) const</td></tr>
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<tr class="memitem:a3e63aa0e7dc143f4a4a15611edcede70 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a3e63aa0e7dc143f4a4a15611edcede70">checkPoint</a> (const Eigen::Vector3f &amp;point, <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;point_in_image) const</td></tr>
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<tr class="memitem:aea43fc18a9695437879d4b3b3860a9ae inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#aea43fc18a9695437879d4b3b3860a9ae">getRangeDifference</a> (const Eigen::Vector3f &amp;point) const</td></tr>
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<tr class="memitem:adfd931443541e194f1c53d5f7b1c43e6 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#adfd931443541e194f1c53d5f7b1c43e6">getImagePointFromAngles</a> (float angle_x, float angle_y, float &amp;image_x, float &amp;image_y) const</td></tr>
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<tr class="memitem:a2388ab60ff312e9034df5e67f899ea97 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a2388ab60ff312e9034df5e67f899ea97">getAnglesFromImagePoint</a> (float image_x, float image_y, float &amp;angle_x, float &amp;angle_y) const</td></tr>
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<tr class="memitem:a86174b766aa77898e0d49ef11f4613b1 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a86174b766aa77898e0d49ef11f4613b1">real2DToInt2D</a> (float x, float y, int &amp;xInt, int &amp;yInt) const</td></tr>
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<tr class="memitem:a824a6bb27b43a174da775a656b81a483 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">isInImage</a> (int x, int y) const</td></tr>
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<tr class="memitem:a2372989721c3c119bb5d4b5ebd9b59c3 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a2372989721c3c119bb5d4b5ebd9b59c3">isValid</a> (int x, int y) const</td></tr>
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<tr class="memitem:ad353c062c9b17adda3797bf970b9934b inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#ad353c062c9b17adda3797bf970b9934b">isValid</a> (int index) const</td></tr>
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<tr class="memitem:a75e51885e151759d815ec1b1b72ea4ff inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a75e51885e151759d815ec1b1b72ea4ff">isObserved</a> (int x, int y) const</td></tr>
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<tr class="memitem:a771ab2f1ee2952a319da20301b27ab3b inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a771ab2f1ee2952a319da20301b27ab3b">isMaxRange</a> (int x, int y) const</td></tr>
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<tr class="memitem:aeb21e9a192704802adabd6693f00e397 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#aeb21e9a192704802adabd6693f00e397">getNormal</a> (int x, int y, int radius, Eigen::Vector3f &amp;normal, int step_size=1) const</td></tr>
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<tr class="memitem:accb0781e43e55cff62851019ffac47ce inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#accb0781e43e55cff62851019ffac47ce">getNormalForClosestNeighbors</a> (int x, int y, int radius, const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;point, int no_of_nearest_neighbors, Eigen::Vector3f &amp;normal, int step_size=1) const</td></tr>
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<tr class="memitem:a2de7a8f331c28ac81440ba74e56369bc inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a2de7a8f331c28ac81440ba74e56369bc">getNormalForClosestNeighbors</a> (int x, int y, int radius, const Eigen::Vector3f &amp;point, int no_of_nearest_neighbors, Eigen::Vector3f &amp;normal, Eigen::Vector3f *point_on_plane=NULL, int step_size=1) const</td></tr>
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<tr class="memitem:a5cb82433197f15970647793c6271fe9a inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a5cb82433197f15970647793c6271fe9a">getNormalForClosestNeighbors</a> (int x, int y, Eigen::Vector3f &amp;normal, int radius=2) const</td></tr>
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<tr class="memitem:abf1ce91a6aae13aefb5d3026273eb108 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#abf1ce91a6aae13aefb5d3026273eb108">getSurfaceInformation</a> (int x, int y, int radius, const Eigen::Vector3f &amp;point, int no_of_closest_neighbors, int step_size, float &amp;max_closest_neighbor_distance_squared, Eigen::Vector3f &amp;normal, Eigen::Vector3f &amp;mean, Eigen::Vector3f &amp;eigen_values, Eigen::Vector3f *normal_all_neighbors=NULL, Eigen::Vector3f *mean_all_neighbors=NULL, Eigen::Vector3f *eigen_values_all_neighbors=NULL) const</td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>getSquaredDistanceOfNthNeighbor</b> (int x, int y, int radius, int n, int step_size) const</td></tr>
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<tr class="memitem:a6b87fa04fd32ec986f1af9149bd46841 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a6b87fa04fd32ec986f1af9149bd46841">getImpactAngle</a> (const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;point1, const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;point2) const</td></tr>
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<tr class="memitem:aa6210710d430006d4c4ca93b6f8023da inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top"><a id="aa6210710d430006d4c4ca93b6f8023da"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#aa6210710d430006d4c4ca93b6f8023da">getImpactAngle</a> (int x1, int y1, int x2, int y2) const</td></tr>
<tr class="memdesc:aa6210710d430006d4c4ca93b6f8023da inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Same as above <br /></td></tr>
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<tr class="memitem:a1ca716a0e6b2aba846bdb4079275f6d9 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a1ca716a0e6b2aba846bdb4079275f6d9">getImpactAngleBasedOnLocalNormal</a> (int x, int y, int radius) const</td></tr>
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<tr class="memitem:aecd52c29445543d03e40f0d75c8120c0 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS float *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#aecd52c29445543d03e40f0d75c8120c0">getImpactAngleImageBasedOnLocalNormals</a> (int radius) const</td></tr>
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<tr class="memitem:a5b6d4bb74fa5134a6c21823dfdcdb13e inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a5b6d4bb74fa5134a6c21823dfdcdb13e">getNormalBasedAcutenessValue</a> (int x, int y, int radius) const</td></tr>
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<tr class="memitem:a2290765b8ccd5608ffa4967dc282395a inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a2290765b8ccd5608ffa4967dc282395a">getAcutenessValue</a> (const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;point1, const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;point2) const</td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a428803af781c88a43cf0c9b251d081bf">getAcutenessValue</a> (int x1, int y1, int x2, int y2) const</td></tr>
<tr class="memdesc:a428803af781c88a43cf0c9b251d081bf inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Same as above <br /></td></tr>
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<tr class="memitem:a56821ed68e8701450b4725ed9c6fd7a0 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a56821ed68e8701450b4725ed9c6fd7a0">getAcutenessValueImages</a> (int pixel_distance, float *&amp;acuteness_value_image_x, float *&amp;acuteness_value_image_y) const</td></tr>
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<tr class="memitem:a16b744103dab2ba2a9ada137aa75887f inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a16b744103dab2ba2a9ada137aa75887f">getSurfaceChange</a> (int x, int y, int radius) const</td></tr>
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<tr class="memitem:a23b27f51c94a493a2c98c96a6acf3f11 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS float *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a23b27f51c94a493a2c98c96a6acf3f11">getSurfaceChangeImage</a> (int radius) const</td></tr>
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<tr class="memitem:afd94afe865f6cd46cfbc64f45bb1d03e inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#afd94afe865f6cd46cfbc64f45bb1d03e">getSurfaceAngleChange</a> (int x, int y, int radius, float &amp;angle_change_x, float &amp;angle_change_y) const</td></tr>
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<tr class="memitem:a0501e4697fe05327423b4e247baa3528 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a0501e4697fe05327423b4e247baa3528">getSurfaceAngleChangeImages</a> (int radius, float *&amp;angle_change_image_x, float *&amp;angle_change_image_y) const</td></tr>
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<tr class="memitem:ac6a22e10be8bfcedf9297d1e1badef1c inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#ac6a22e10be8bfcedf9297d1e1badef1c">getCurvature</a> (int x, int y, int radius, int step_size) const</td></tr>
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const Eigen::Vector3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a942d6b253c5df68008614af6dfed323a">getSensorPos</a> () const</td></tr>
<tr class="memdesc:a942d6b253c5df68008614af6dfed323a inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the sensor position <br /></td></tr>
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<tr class="memitem:ad4f7d854c4f15ab0ab2193cc726c353f inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#ad4f7d854c4f15ab0ab2193cc726c353f">setUnseenToMaxRange</a> ()</td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a25e2db660717d67a19f5cdb39937c00a">getImageOffsetX</a> () const</td></tr>
<tr class="memdesc:a25e2db660717d67a19f5cdb39937c00a inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for image_offset_x_ <br /></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a42c06aa5693077ab6db7ec5c691dc677">getImageOffsetY</a> () const</td></tr>
<tr class="memdesc:a42c06aa5693077ab6db7ec5c691dc677 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for image_offset_y_ <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a962a922e6a1170b1494ee21859087b4e">setImageOffsets</a> (int offset_x, int offset_y)</td></tr>
<tr class="memdesc:a962a922e6a1170b1494ee21859087b4e inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Setter for image offsets <br /></td></tr>
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<tr class="memitem:a83b475eb983cd9edaea5d97c6d098a7c inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top"><a id="a83b475eb983cd9edaea5d97c6d098a7c"></a>
PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a83b475eb983cd9edaea5d97c6d098a7c">getMinMaxRanges</a> (float &amp;min_range, float &amp;max_range) const</td></tr>
<tr class="memdesc:a83b475eb983cd9edaea5d97c6d098a7c inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find the minimum and maximum range in the image <br /></td></tr>
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PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a37582520baf6b317bbb81e85c95cc602">change3dPointsToLocalCoordinateFrame</a> ()</td></tr>
<tr class="memdesc:a37582520baf6b317bbb81e85c95cc602 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">This function sets the sensor pose to 0 and transforms all point positions to this local coordinate frame <br /></td></tr>
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<tr class="memitem:a225cab091b80ff23a3c7b0d7291dead2 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS float *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a225cab091b80ff23a3c7b0d7291dead2">getInterpolatedSurfaceProjection</a> (const Eigen::Affine3f &amp;pose, int pixel_size, float world_size) const</td></tr>
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<tr class="memitem:accadf69890d534cfcb0f9d65c60feaac inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top"><a id="accadf69890d534cfcb0f9d65c60feaac"></a>
PCL_EXPORTS float *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#accadf69890d534cfcb0f9d65c60feaac">getInterpolatedSurfaceProjection</a> (const Eigen::Vector3f &amp;point, int pixel_size, float world_size) const</td></tr>
<tr class="memdesc:accadf69890d534cfcb0f9d65c60feaac inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Same as above, but using the local coordinate frame defined by point and the viewing direction <br /></td></tr>
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<tr class="memitem:a6646c58459dc6780f114039d296d88d4 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top"><a id="a6646c58459dc6780f114039d296d88d4"></a>
Eigen::Affine3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a6646c58459dc6780f114039d296d88d4">getTransformationToViewerCoordinateFrame</a> (const Eigen::Vector3f &amp;point) const</td></tr>
<tr class="memdesc:a6646c58459dc6780f114039d296d88d4 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the local coordinate frame with 0,0,0 in point, upright and Z as the viewing direction <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a4f79a45cb9beea2cca3a6f17a16d44b7">getTransformationToViewerCoordinateFrame</a> (const Eigen::Vector3f &amp;point, Eigen::Affine3f &amp;transformation) const</td></tr>
<tr class="memdesc:a4f79a45cb9beea2cca3a6f17a16d44b7 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Same as above, using a reference for the retrurn value <br /></td></tr>
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<tr class="memitem:ab38c579faf678914119d4190b0068ab6 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top"><a id="ab38c579faf678914119d4190b0068ab6"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#ab38c579faf678914119d4190b0068ab6">getRotationToViewerCoordinateFrame</a> (const Eigen::Vector3f &amp;point, Eigen::Affine3f &amp;transformation) const</td></tr>
<tr class="memdesc:ab38c579faf678914119d4190b0068ab6 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Same as above, but only returning the rotation <br /></td></tr>
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<tr class="memitem:a0ee070d08d3e3688e24f8ebffc9b6436 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a0ee070d08d3e3688e24f8ebffc9b6436">getNormalBasedUprightTransformation</a> (const Eigen::Vector3f &amp;point, float max_dist, Eigen::Affine3f &amp;transformation) const</td></tr>
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<tr class="memitem:a03e02f341db8f43860b2cb83824a2123 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a03e02f341db8f43860b2cb83824a2123">getIntegralImage</a> (float *&amp;integral_image, int *&amp;valid_points_num_image) const</td></tr>
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<tr class="memitem:a1037c5597389ad0f981c91f820b392a9 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a1037c5597389ad0f981c91f820b392a9">getBlurredImageUsingIntegralImage</a> (int blur_radius, float *integral_image, int *valid_points_num_image, <a class="el" href="classpcl_1_1_range_image.html">RangeImage</a> &amp;range_image) const</td></tr>
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<tr class="memitem:a29b238256cffb27a526bf89e857e5602 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">virtual PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a29b238256cffb27a526bf89e857e5602">getBlurredImage</a> (int blur_radius, <a class="el" href="classpcl_1_1_range_image.html">RangeImage</a> &amp;range_image) const</td></tr>
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<tr class="memitem:a9270139a4ebc5b01e91262bba72c1cf5 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a9270139a4ebc5b01e91262bba72c1cf5">getEuclideanDistanceSquared</a> (int x1, int y1, int x2, int y2) const</td></tr>
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<tr class="memitem:a4d702bb8f446bb382040e5872b6dbfb1 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top"><a id="a4d702bb8f446bb382040e5872b6dbfb1"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a4d702bb8f446bb382040e5872b6dbfb1">getAverageEuclideanDistance</a> (int x, int y, int offset_x, int offset_y, int max_steps) const</td></tr>
<tr class="memdesc:a4d702bb8f446bb382040e5872b6dbfb1 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Doing the above for some steps in the given direction and averaging <br /></td></tr>
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PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a42e94ffae804608d0a7d2762cddd6fd2">getRangeImageWithSmoothedSurface</a> (int radius, <a class="el" href="classpcl_1_1_range_image.html">RangeImage</a> &amp;smoothed_range_image) const</td></tr>
<tr class="memdesc:a42e94ffae804608d0a7d2762cddd6fd2 inherit pub_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Project all points on the local plane approximation, thereby smoothing the surface of the scan <br /></td></tr>
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<tr class="memitem:a397d6c6b38906e98ab89b817c4191247 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a397d6c6b38906e98ab89b817c4191247">get1dPointAverage</a> (int x, int y, int delta_x, int delta_y, int no_of_points, <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;average_point) const</td></tr>
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<tr class="memitem:addd0bcec3d51c70ac205bbfc75dd8c18 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#addd0bcec3d51c70ac205bbfc75dd8c18">getOverlap</a> (const <a class="el" href="classpcl_1_1_range_image.html">RangeImage</a> &amp;other_range_image, const Eigen::Affine3f &amp;relative_transformation, int search_radius, float max_distance, int pixel_step=1) const</td></tr>
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<tr class="memitem:ad37bc4a8aab3d63ee7c9ef9428239f00 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#ad37bc4a8aab3d63ee7c9ef9428239f00">getViewingDirection</a> (int x, int y, Eigen::Vector3f &amp;viewing_direction) const</td></tr>
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<tr class="memitem:a32dfa3c681a50aebc74ae6830767a831 inherit pub_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a32dfa3c681a50aebc74ae6830767a831">getViewingDirection</a> (const Eigen::Vector3f &amp;point, Eigen::Vector3f &amp;viewing_direction) const</td></tr>
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<tr class="inherit_header pub_methods_classpcl_1_1_point_cloud"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_point_cloud')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointWithRange &gt;</a></td></tr>
<tr class="memitem:a06d2d868269c767930f24ac273ed9e05 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a06d2d868269c767930f24ac273ed9e05"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a06d2d868269c767930f24ac273ed9e05">PointCloud</a> ()</td></tr>
<tr class="memdesc:a06d2d868269c767930f24ac273ed9e05 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default constructor. Sets <a class="el" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> to true, <a class="el" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> and <a class="el" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> to 0, and the <a class="el" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a> and <a class="el" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a> to identity. <br /></td></tr>
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<tr class="memitem:ac32b534164db32cebec965ed5507e490 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#ac32b534164db32cebec965ed5507e490">PointCloud</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &gt; &amp;pc)</td></tr>
<tr class="memdesc:ac32b534164db32cebec965ed5507e490 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor (needed by compilers such as Intel C++)  <a href="classpcl_1_1_point_cloud.html#ac32b534164db32cebec965ed5507e490">更多...</a><br /></td></tr>
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<tr class="memitem:a4f4e3cd77252d0256e96de21d1f0219d inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a4f4e3cd77252d0256e96de21d1f0219d">PointCloud</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &gt; &amp;pc)</td></tr>
<tr class="memdesc:a4f4e3cd77252d0256e96de21d1f0219d inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor (needed by compilers such as Intel C++)  <a href="classpcl_1_1_point_cloud.html#a4f4e3cd77252d0256e96de21d1f0219d">更多...</a><br /></td></tr>
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<tr class="memitem:a2a482d4048581443749a04e3aabb3691 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a2a482d4048581443749a04e3aabb3691">PointCloud</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &gt; &amp;pc, const std::vector&lt; int &gt; &amp;indices)</td></tr>
<tr class="memdesc:a2a482d4048581443749a04e3aabb3691 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor from point cloud subset  <a href="classpcl_1_1_point_cloud.html#a2a482d4048581443749a04e3aabb3691">更多...</a><br /></td></tr>
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<tr class="memitem:ab5892ddcac7bafdcf659551846ac6aae inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#ab5892ddcac7bafdcf659551846ac6aae">PointCloud</a> (uint32_t width_, uint32_t height_, const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;value_=<a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a>())</td></tr>
<tr class="memdesc:ab5892ddcac7bafdcf659551846ac6aae inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Allocate constructor from point cloud subset  <a href="classpcl_1_1_point_cloud.html#ab5892ddcac7bafdcf659551846ac6aae">更多...</a><br /></td></tr>
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<tr class="memitem:aa614daa65a6a30956886ccd24e5fa4d4 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="aa614daa65a6a30956886ccd24e5fa4d4"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#aa614daa65a6a30956886ccd24e5fa4d4">~PointCloud</a> ()</td></tr>
<tr class="memdesc:aa614daa65a6a30956886ccd24e5fa4d4 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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<tr class="memitem:a335a1cf1c305cc563f9ebeb2a61f994b inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a335a1cf1c305cc563f9ebeb2a61f994b">operator+=</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;rhs)</td></tr>
<tr class="memdesc:a335a1cf1c305cc563f9ebeb2a61f994b inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add a point cloud to the current cloud.  <a href="classpcl_1_1_point_cloud.html#a335a1cf1c305cc563f9ebeb2a61f994b">更多...</a><br /></td></tr>
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<tr class="memitem:ac5959e2829b27d093904c222257f1b1c inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#ac5959e2829b27d093904c222257f1b1c">operator+</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;rhs)</td></tr>
<tr class="memdesc:ac5959e2829b27d093904c222257f1b1c inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add a point cloud to another cloud.  <a href="classpcl_1_1_point_cloud.html#ac5959e2829b27d093904c222257f1b1c">更多...</a><br /></td></tr>
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<tr class="memitem:a1155fe4ba5cdc7e83cb72159a4ea02dc inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a1155fe4ba5cdc7e83cb72159a4ea02dc">at</a> (int column, int row) const</td></tr>
<tr class="memdesc:a1155fe4ba5cdc7e83cb72159a4ea02dc inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that have height != 1).  <a href="classpcl_1_1_point_cloud.html#a1155fe4ba5cdc7e83cb72159a4ea02dc">更多...</a><br /></td></tr>
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<tr class="memitem:a930c2d1f3d8682ca228873ce1c5cc7c4 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a930c2d1f3d8682ca228873ce1c5cc7c4">at</a> (int column, int row)</td></tr>
<tr class="memdesc:a930c2d1f3d8682ca228873ce1c5cc7c4 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that have height != 1).  <a href="classpcl_1_1_point_cloud.html#a930c2d1f3d8682ca228873ce1c5cc7c4">更多...</a><br /></td></tr>
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<tr class="memitem:a075e6b2927f4f05584acffb14fb7ca0b inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a075e6b2927f4f05584acffb14fb7ca0b"></a>
const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>at</b> (size_t n) const</td></tr>
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<tr class="memitem:a939f75f413b130342a5136021e1627e2 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a939f75f413b130342a5136021e1627e2"></a>
<a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>at</b> (size_t n)</td></tr>
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<tr class="memitem:a91451e94e3c4d3bbe1e0a499de5163f4 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a91451e94e3c4d3bbe1e0a499de5163f4">operator()</a> (size_t column, size_t row) const</td></tr>
<tr class="memdesc:a91451e94e3c4d3bbe1e0a499de5163f4 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that have height != 1).  <a href="classpcl_1_1_point_cloud.html#a91451e94e3c4d3bbe1e0a499de5163f4">更多...</a><br /></td></tr>
<tr class="separator:a91451e94e3c4d3bbe1e0a499de5163f4 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a72a535e193c4669ece027971e7fa21a2 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a72a535e193c4669ece027971e7fa21a2">operator()</a> (size_t column, size_t row)</td></tr>
<tr class="memdesc:a72a535e193c4669ece027971e7fa21a2 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that have height != 1).  <a href="classpcl_1_1_point_cloud.html#a72a535e193c4669ece027971e7fa21a2">更多...</a><br /></td></tr>
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<tr class="memitem:a914dbcef25abdb46f32991ac112002e7 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a914dbcef25abdb46f32991ac112002e7">isOrganized</a> () const</td></tr>
<tr class="memdesc:a914dbcef25abdb46f32991ac112002e7 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return whether a dataset is organized (e.g., arranged in a structured grid).  <a href="classpcl_1_1_point_cloud.html#a914dbcef25abdb46f32991ac112002e7">更多...</a><br /></td></tr>
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<tr class="memitem:ab9486898ac363e8206829da7c01ea62d inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">Eigen::Map&lt; Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#ab9486898ac363e8206829da7c01ea62d">getMatrixXfMap</a> (int dim, int stride, int offset)</td></tr>
<tr class="memdesc:ab9486898ac363e8206829da7c01ea62d inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return an Eigen MatrixXf (assumes float values) mapped to the specified dimensions of the PointCloud. <a class="anchor" id="getMatrixXfMap"></a> <a href="classpcl_1_1_point_cloud.html#ab9486898ac363e8206829da7c01ea62d">更多...</a><br /></td></tr>
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<tr class="memitem:a0fb96c26772eca605280d622efe35995 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">const Eigen::Map&lt; const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a0fb96c26772eca605280d622efe35995">getMatrixXfMap</a> (int dim, int stride, int offset) const</td></tr>
<tr class="memdesc:a0fb96c26772eca605280d622efe35995 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return an Eigen MatrixXf (assumes float values) mapped to the specified dimensions of the PointCloud. <a class="anchor" id="getMatrixXfMap"></a> <a href="classpcl_1_1_point_cloud.html#a0fb96c26772eca605280d622efe35995">更多...</a><br /></td></tr>
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<tr class="memitem:a194a19cac54494383e3706a72f4240fb inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">Eigen::Map&lt; Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a194a19cac54494383e3706a72f4240fb">getMatrixXfMap</a> ()</td></tr>
<tr class="memdesc:a194a19cac54494383e3706a72f4240fb inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return an Eigen MatrixXf (assumes float values) mapped to the PointCloud.  <a href="classpcl_1_1_point_cloud.html#a194a19cac54494383e3706a72f4240fb">更多...</a><br /></td></tr>
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<tr class="memitem:ada3e021bcb3f4d8d62ea3f00324fc126 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">const Eigen::Map&lt; const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#ada3e021bcb3f4d8d62ea3f00324fc126">getMatrixXfMap</a> () const</td></tr>
<tr class="memdesc:ada3e021bcb3f4d8d62ea3f00324fc126 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return an Eigen MatrixXf (assumes float values) mapped to the PointCloud.  <a href="classpcl_1_1_point_cloud.html#ada3e021bcb3f4d8d62ea3f00324fc126">更多...</a><br /></td></tr>
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<tr class="memitem:a28d991dffbab8ccc854e4c77c2cbe851 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a28d991dffbab8ccc854e4c77c2cbe851"></a>
iterator&#160;</td><td class="memItemRight" valign="bottom"><b>begin</b> ()</td></tr>
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const_iterator&#160;</td><td class="memItemRight" valign="bottom"><b>begin</b> () const</td></tr>
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iterator&#160;</td><td class="memItemRight" valign="bottom"><b>end</b> ()</td></tr>
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const_iterator&#160;</td><td class="memItemRight" valign="bottom"><b>end</b> () const</td></tr>
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size_t&#160;</td><td class="memItemRight" valign="bottom"><b>size</b> () const</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>reserve</b> (size_t n)</td></tr>
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<tr class="memitem:a1626420d44e28b5ab22bdc2f1fc6c7ff inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a1626420d44e28b5ab22bdc2f1fc6c7ff"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>empty</b> () const</td></tr>
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<tr class="memitem:a2d60b6927b31ef89cd3b97e8173ea4aa inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (size_t n)</td></tr>
<tr class="memdesc:a2d60b6927b31ef89cd3b97e8173ea4aa inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Resize the cloud  <a href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">更多...</a><br /></td></tr>
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const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator[]</b> (size_t n) const</td></tr>
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<a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator[]</b> (size_t n)</td></tr>
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const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>front</b> () const</td></tr>
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<tr class="memitem:a157e45c8c8bb7b028b315e3a1548cc85 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a157e45c8c8bb7b028b315e3a1548cc85"></a>
<a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>front</b> ()</td></tr>
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const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>back</b> () const</td></tr>
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<tr class="memitem:a21a3d18a47ea5ef7ea379fac42f7575a inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a21a3d18a47ea5ef7ea379fac42f7575a"></a>
<a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>back</b> ()</td></tr>
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<tr class="memitem:a0b4d7abee110e47d90635eb042488bb4 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;pt)</td></tr>
<tr class="memdesc:a0b4d7abee110e47d90635eb042488bb4 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Insert a new point in the cloud, at the end of the container.  <a href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">更多...</a><br /></td></tr>
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<tr class="memitem:a75387c07a2d24ee943eb71ab1c00e4a7 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">iterator&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a75387c07a2d24ee943eb71ab1c00e4a7">insert</a> (iterator position, const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;pt)</td></tr>
<tr class="memdesc:a75387c07a2d24ee943eb71ab1c00e4a7 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Insert a new point in the cloud, given an iterator.  <a href="classpcl_1_1_point_cloud.html#a75387c07a2d24ee943eb71ab1c00e4a7">更多...</a><br /></td></tr>
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<tr class="memitem:a70ff499c4a3f9398bc3d1629b066db30 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a70ff499c4a3f9398bc3d1629b066db30">insert</a> (iterator position, size_t n, const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;pt)</td></tr>
<tr class="memdesc:a70ff499c4a3f9398bc3d1629b066db30 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Insert a new point in the cloud N times, given an iterator.  <a href="classpcl_1_1_point_cloud.html#a70ff499c4a3f9398bc3d1629b066db30">更多...</a><br /></td></tr>
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<tr class="memitem:a3cccb494b2875101b528a8919c738f9b inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a3cccb494b2875101b528a8919c738f9b">insert</a> (iterator position, InputIterator first, InputIterator last)</td></tr>
<tr class="memdesc:a3cccb494b2875101b528a8919c738f9b inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Insert a new range of points in the cloud, at a certain position.  <a href="classpcl_1_1_point_cloud.html#a3cccb494b2875101b528a8919c738f9b">更多...</a><br /></td></tr>
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<tr class="memitem:a06463926e7cbe52ed3c024c7bc7565d3 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">iterator&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a06463926e7cbe52ed3c024c7bc7565d3">erase</a> (iterator position)</td></tr>
<tr class="memdesc:a06463926e7cbe52ed3c024c7bc7565d3 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Erase a point in the cloud.  <a href="classpcl_1_1_point_cloud.html#a06463926e7cbe52ed3c024c7bc7565d3">更多...</a><br /></td></tr>
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<tr class="memitem:a2901a922dac074254160e1e11912d2c5 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">iterator&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a2901a922dac074254160e1e11912d2c5">erase</a> (iterator first, iterator last)</td></tr>
<tr class="memdesc:a2901a922dac074254160e1e11912d2c5 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Erase a set of points given by a (first, last) iterator pair  <a href="classpcl_1_1_point_cloud.html#a2901a922dac074254160e1e11912d2c5">更多...</a><br /></td></tr>
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<tr class="memitem:ab4a0b63e9c8442286b08336f8385a9ea inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#ab4a0b63e9c8442286b08336f8385a9ea">swap</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &gt; &amp;rhs)</td></tr>
<tr class="memdesc:ab4a0b63e9c8442286b08336f8385a9ea inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Swap a point cloud with another cloud.  <a href="classpcl_1_1_point_cloud.html#ab4a0b63e9c8442286b08336f8385a9ea">更多...</a><br /></td></tr>
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<tr class="memitem:a963c0da7320055c79e5af0df4f6ad224 inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a963c0da7320055c79e5af0df4f6ad224"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a963c0da7320055c79e5af0df4f6ad224">clear</a> ()</td></tr>
<tr class="memdesc:a963c0da7320055c79e5af0df4f6ad224 inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Removes all points in a cloud and sets the width and height to 0. <br /></td></tr>
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<tr class="memitem:afebbbb9c522a94cf245dd3968b50ed5e inherit pub_methods_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top">Ptr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#afebbbb9c522a94cf245dd3968b50ed5e">makeShared</a> () const</td></tr>
<tr class="memdesc:afebbbb9c522a94cf245dd3968b50ed5e inherit pub_methods_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy the cloud to the heap and return a smart pointer Note that deep copy is performed, so avoid using this function on non-empty clouds. The changes of the returned cloud are not mirrored back to this one.  <a href="classpcl_1_1_point_cloud.html#afebbbb9c522a94cf245dd3968b50ed5e">更多...</a><br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:a46e0235f57da18aa442985eef8a653e5"><td class="memItemLeft" align="right" valign="top"><a id="a46e0235f57da18aa442985eef8a653e5"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>focal_length_x_</b></td></tr>
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<tr class="memitem:aa329fde53679199bc7b295ad324d2d27"><td class="memItemLeft" align="right" valign="top"><a id="aa329fde53679199bc7b295ad324d2d27"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#aa329fde53679199bc7b295ad324d2d27">focal_length_y_</a></td></tr>
<tr class="memdesc:aa329fde53679199bc7b295ad324d2d27"><td class="mdescLeft">&#160;</td><td class="mdescRight">The focal length of the image in pixels <br /></td></tr>
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<tr class="memitem:a3fe3c75dfb52a7eb75e8ee46b2042e88"><td class="memItemLeft" align="right" valign="top"><a id="a3fe3c75dfb52a7eb75e8ee46b2042e88"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>focal_length_x_reciprocal_</b></td></tr>
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<tr class="memitem:a664df606b14bc13081320a248ccd553d"><td class="memItemLeft" align="right" valign="top"><a id="a664df606b14bc13081320a248ccd553d"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#a664df606b14bc13081320a248ccd553d">focal_length_y_reciprocal_</a></td></tr>
<tr class="memdesc:a664df606b14bc13081320a248ccd553d"><td class="mdescLeft">&#160;</td><td class="mdescRight">1/focal_length -&gt; for internal use <br /></td></tr>
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<tr class="memitem:a280deeb2c771cda041c70d8597b79409"><td class="memItemLeft" align="right" valign="top"><a id="a280deeb2c771cda041c70d8597b79409"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>center_x_</b></td></tr>
<tr class="separator:a280deeb2c771cda041c70d8597b79409"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a61fa15b24e42e2be6f4440c2b8e396ab"><td class="memItemLeft" align="right" valign="top"><a id="a61fa15b24e42e2be6f4440c2b8e396ab"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_planar.html#a61fa15b24e42e2be6f4440c2b8e396ab">center_y_</a></td></tr>
<tr class="memdesc:a61fa15b24e42e2be6f4440c2b8e396ab"><td class="mdescLeft">&#160;</td><td class="mdescRight">The principle point of the image <br /></td></tr>
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<tr class="inherit_header pro_attribs_classpcl_1_1_range_image"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_range_image')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_range_image.html">pcl::RangeImage</a></td></tr>
<tr class="memitem:ada8177479f0e95999a66294db4c0c3eb inherit pro_attribs_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">Eigen::Affine3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#ada8177479f0e95999a66294db4c0c3eb">to_range_image_system_</a></td></tr>
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<tr class="memitem:a31c36f147403c0f64e1c3a386b30e229 inherit pro_attribs_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">Eigen::Affine3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a31c36f147403c0f64e1c3a386b30e229">to_world_system_</a></td></tr>
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<tr class="memitem:abdbfb655cdfeb5d8ace1ac841a52a524 inherit pro_attribs_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#abdbfb655cdfeb5d8ace1ac841a52a524">angular_resolution_x_</a></td></tr>
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<tr class="memitem:a9471a00ecde65c754227e155cc234942 inherit pro_attribs_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a9471a00ecde65c754227e155cc234942">angular_resolution_y_</a></td></tr>
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<tr class="memitem:a843659230146a43690ee4d4fb53fcc92 inherit pro_attribs_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a843659230146a43690ee4d4fb53fcc92">angular_resolution_y_reciprocal_</a></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>image_offset_x_</b></td></tr>
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<tr class="memitem:a1518af9f1c9eb6ac259be92824842e23 inherit pro_attribs_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a1518af9f1c9eb6ac259be92824842e23">image_offset_y_</a></td></tr>
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<tr class="memitem:a51bf019906a3256038561354d6b95885 inherit pro_attribs_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a51bf019906a3256038561354d6b95885">unobserved_point</a></td></tr>
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<tr class="inherit_header pro_attribs_classpcl_1_1_point_cloud"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_point_cloud')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointWithRange &gt;</a></td></tr>
<tr class="memitem:a306d8c279a6fb68c26a81d69dcee1f97 inherit pro_attribs_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a306d8c279a6fb68c26a81d69dcee1f97"></a>
boost::shared_ptr&lt; MsgFieldMap &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>mapping_</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pub_static_methods_classpcl_1_1_range_image"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classpcl_1_1_range_image')"><img src="closed.png" alt="-"/>&#160;静态 Public 成员函数 继承自 <a class="el" href="classpcl_1_1_range_image.html">pcl::RangeImage</a></td></tr>
<tr class="memitem:ac504743608967dcd142dc4249b82ea5a inherit pub_static_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">static float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#ac504743608967dcd142dc4249b82ea5a">getMaxAngleSize</a> (const Eigen::Affine3f &amp;viewer_pose, const Eigen::Vector3f &amp;center, float radius)</td></tr>
<tr class="memdesc:ac504743608967dcd142dc4249b82ea5a inherit pub_static_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the size of a certain area when seen from the given pose  <a href="classpcl_1_1_range_image.html#ac504743608967dcd142dc4249b82ea5a">更多...</a><br /></td></tr>
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<tr class="memitem:a2e3b75077a96415e431b90f53a249773 inherit pub_static_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">static Eigen::Vector3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a2e3b75077a96415e431b90f53a249773">getEigenVector3f</a> (const <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &amp;point)</td></tr>
<tr class="memdesc:a2e3b75077a96415e431b90f53a249773 inherit pub_static_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get Eigen::Vector3f from <a class="el" href="structpcl_1_1_point_with_range.html" title="A point structure representing Euclidean xyz coordinates, padded with an extra range float.">PointWithRange</a>  <a href="classpcl_1_1_range_image.html#a2e3b75077a96415e431b90f53a249773">更多...</a><br /></td></tr>
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<tr class="memitem:af5c0908bfbe060fdb517728fe56b2c55 inherit pub_static_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">static PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#af5c0908bfbe060fdb517728fe56b2c55">getCoordinateFrameTransformation</a> (RangeImage::CoordinateFrame coordinate_frame, Eigen::Affine3f &amp;transformation)</td></tr>
<tr class="memdesc:af5c0908bfbe060fdb517728fe56b2c55 inherit pub_static_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the transformation that transforms the given coordinate frame into CAMERA_FRAME  <a href="classpcl_1_1_range_image.html#af5c0908bfbe060fdb517728fe56b2c55">更多...</a><br /></td></tr>
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<tr class="memitem:a49c425d518d92def18300cd029ae1855 inherit pub_static_methods_classpcl_1_1_range_image"><td class="memTemplParams" colspan="2">template&lt;typename PointCloudTypeWithViewpoints &gt; </td></tr>
<tr class="memitem:a49c425d518d92def18300cd029ae1855 inherit pub_static_methods_classpcl_1_1_range_image"><td class="memTemplItemLeft" align="right" valign="top">static Eigen::Vector3f&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a49c425d518d92def18300cd029ae1855">getAverageViewPoint</a> (const PointCloudTypeWithViewpoints &amp;point_cloud)</td></tr>
<tr class="memdesc:a49c425d518d92def18300cd029ae1855 inherit pub_static_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the average viewpoint of a point cloud where each point carries viewpoint information as vp_x, vp_y, vp_z  <a href="classpcl_1_1_range_image.html#a49c425d518d92def18300cd029ae1855">更多...</a><br /></td></tr>
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<tr class="memitem:a75e39ee2587a56fbdda651c27cc7898e inherit pub_static_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">static PCL_EXPORTS void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a75e39ee2587a56fbdda651c27cc7898e">extractFarRanges</a> (const <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;point_cloud_data, <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_with_viewpoint.html">PointWithViewpoint</a> &gt; &amp;far_ranges)</td></tr>
<tr class="memdesc:a75e39ee2587a56fbdda651c27cc7898e inherit pub_static_methods_classpcl_1_1_range_image"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if the provided data includes far ranges and add them to far_ranges  <a href="classpcl_1_1_range_image.html#a75e39ee2587a56fbdda651c27cc7898e">更多...</a><br /></td></tr>
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<tr class="inherit_header pub_attribs_classpcl_1_1_point_cloud"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpcl_1_1_point_cloud')"><img src="closed.png" alt="-"/>&#160;Public 属性 继承自 <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointWithRange &gt;</a></td></tr>
<tr class="memitem:a82e0be055a617e5e74102ed62712b352 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a82e0be055a617e5e74102ed62712b352"></a>
<a class="el" href="structpcl_1_1_p_c_l_header.html">pcl::PCLHeader</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a></td></tr>
<tr class="memdesc:a82e0be055a617e5e74102ed62712b352 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">The point cloud header. It contains information about the acquisition time. <br /></td></tr>
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<tr class="memitem:af16a62638198313b9c093127c492c884 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="af16a62638198313b9c093127c492c884"></a>
std::vector&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a>, Eigen::aligned_allocator&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a></td></tr>
<tr class="memdesc:af16a62638198313b9c093127c492c884 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">The point data. <br /></td></tr>
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<tr class="memitem:a2185a6453f8ad905d7bdf7b45754a160 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a2185a6453f8ad905d7bdf7b45754a160"></a>
uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a></td></tr>
<tr class="memdesc:a2185a6453f8ad905d7bdf7b45754a160 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">The point cloud width (if organized as an image-structure). <br /></td></tr>
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<tr class="memitem:a4f34b45220c57f96607513ffad0d9582 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a4f34b45220c57f96607513ffad0d9582"></a>
uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a></td></tr>
<tr class="memdesc:a4f34b45220c57f96607513ffad0d9582 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">The point cloud height (if organized as an image-structure). <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a></td></tr>
<tr class="memdesc:a3ca88d8ebf6f4f35acbc31cdfb38aa94 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if no points are invalid (e.g., have NaN or Inf values). <br /></td></tr>
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<tr class="memitem:aad7c2cd4b0d1c7f0fbc096276b5e2230 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="aad7c2cd4b0d1c7f0fbc096276b5e2230"></a>
Eigen::Vector4f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a></td></tr>
<tr class="memdesc:aad7c2cd4b0d1c7f0fbc096276b5e2230 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sensor acquisition pose (origin/translation). <br /></td></tr>
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<tr class="memitem:a5de17e88bdf15e1c4fd1bcc6b85b1941 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a5de17e88bdf15e1c4fd1bcc6b85b1941"></a>
Eigen::Quaternionf&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a></td></tr>
<tr class="memdesc:a5de17e88bdf15e1c4fd1bcc6b85b1941 inherit pub_attribs_classpcl_1_1_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sensor acquisition pose (rotation). <br /></td></tr>
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<tr class="inherit_header pub_static_attribs_classpcl_1_1_range_image"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_classpcl_1_1_range_image')"><img src="closed.png" alt="-"/>&#160;静态 Public 属性 继承自 <a class="el" href="classpcl_1_1_range_image.html">pcl::RangeImage</a></td></tr>
<tr class="memitem:a34fe4f6701548e2514ae45099309cac4 inherit pub_static_attribs_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">static int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a34fe4f6701548e2514ae45099309cac4">max_no_of_threads</a></td></tr>
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<tr class="memitem:a1bd552e2971d69843fdec72413823f57 inherit pub_static_attribs_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a1bd552e2971d69843fdec72413823f57">debug</a></td></tr>
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<tr class="inherit_header pro_static_methods_classpcl_1_1_range_image"><td colspan="2" onclick="javascript:toggleInherit('pro_static_methods_classpcl_1_1_range_image')"><img src="closed.png" alt="-"/>&#160;静态 Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_range_image.html">pcl::RangeImage</a></td></tr>
<tr class="memitem:ae74c34594e1417fb702d92ff51f2b495 inherit pro_static_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#ae74c34594e1417fb702d92ff51f2b495">createLookupTables</a> ()</td></tr>
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<tr class="memitem:a6cb20514cdc04674448a5e5c6cb373bc inherit pro_static_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">static float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a6cb20514cdc04674448a5e5c6cb373bc">asinLookUp</a> (float value)</td></tr>
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<tr class="memitem:a17835570c515cca3ba1ecd0f132bf013 inherit pro_static_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">static float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a17835570c515cca3ba1ecd0f132bf013">atan2LookUp</a> (float y, float x)</td></tr>
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<tr class="memitem:a29ab1f1088b1c8d111dfe02139882ded inherit pro_static_methods_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top">static float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image.html#a29ab1f1088b1c8d111dfe02139882ded">cosLookUp</a> (float value)</td></tr>
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<tr class="inherit_header pro_static_attribs_classpcl_1_1_range_image"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_classpcl_1_1_range_image')"><img src="closed.png" alt="-"/>&#160;静态 Protected 属性 继承自 <a class="el" href="classpcl_1_1_range_image.html">pcl::RangeImage</a></td></tr>
<tr class="memitem:a9429abb4524c74600122006d213242ee inherit pro_static_attribs_classpcl_1_1_range_image"><td class="memItemLeft" align="right" valign="top"><a id="a9429abb4524c74600122006d213242ee"></a>
static const int&#160;</td><td class="memItemRight" valign="bottom"><b>lookup_table_size</b></td></tr>
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static std::vector&lt; float &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>asin_lookup_table</b></td></tr>
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static std::vector&lt; float &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>atan_lookup_table</b></td></tr>
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static std::vector&lt; float &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>cos_lookup_table</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p><b><a class="el" href="classpcl_1_1_range_image_planar.html" title="RangeImagePlanar is derived from the original range image and differs from it because it&#39;s not a sphe...">RangeImagePlanar</a></b> is derived from the original range image and differs from it because it's not a spherical projection, but using a projection plane (as normal cameras do), therefore being better applicable for range sensors that already provide a range image by themselves (stereo cameras, ToF-cameras), so that a conversion to point cloud and then to a spherical range image becomes unnecessary. </p>
<dl class="section author"><dt>作者</dt><dd>Bastian Steder </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="aa9f19352f5b5d4655b20fb976c054d18"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa9f19352f5b5d4655b20fb976c054d18">&#9670;&nbsp;</a></span>RangeImagePlanar()</h2>

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<p>Constructor </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a397338f0c23eb42ea10c903563e11342">&#9670;&nbsp;</a></span>~RangeImagePlanar()</h2>

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<p>Destructor </p>

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<h2 class="groupheader">成员函数说明</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#abbb77866cf4ee5d2a619f4f8cc62cc9b">&#9670;&nbsp;</a></span>calculate3DPoint() <span class="overload">[1/5]</span></h2>

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<p>Calculate the 3D point according to the given image point and the range value at the closest pixel </p>
<div class="fragment"><div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;{</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;  <span class="keyword">const</span> PointWithRange&amp; point_in_image = <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (image_x, image_y);</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;  <a class="code" href="classpcl_1_1_range_image_planar.html#a1acc16b4b5fb7071175bada62a5b75d0">calculate3DPoint</a> (image_x, image_y, point_in_image.range, point);</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a52164736793c99cc9fc48dedee615e45"><div class="ttname"><a href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">pcl::RangeImage::getPoint</a></div><div class="ttdeci">const PointWithRange &amp; getPoint(int image_x, int image_y) const</div><div class="ttdoc">Return the 3D point with range at the given image position</div><div class="ttdef"><b>Definition:</b> range_image.hpp:479</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_planar_html_a1acc16b4b5fb7071175bada62a5b75d0"><div class="ttname"><a href="classpcl_1_1_range_image_planar.html#a1acc16b4b5fb7071175bada62a5b75d0">pcl::RangeImagePlanar::calculate3DPoint</a></div><div class="ttdeci">void calculate3DPoint(float image_x, float image_y, float range, PointWithRange &amp;point) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:585</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#aa9e97e7487ac21a77075b5f8b64ca205">&#9670;&nbsp;</a></span>calculate3DPoint() <span class="overload">[2/5]</span></h2>

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<p>Calculate the 3D point according to the given image point and range </p>
<div class="fragment"><div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;{</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;  <span class="keywordtype">float</span> angle_x, angle_y;</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;  <span class="comment">//std::cout &lt;&lt; image_x&lt;&lt;&quot;,&quot;&lt;&lt;image_y&lt;&lt;&quot;,&quot;&lt;&lt;range;</span></div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a2388ab60ff312e9034df5e67f899ea97">getAnglesFromImagePoint</a> (image_x, image_y, angle_x, angle_y);</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;  </div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;  <span class="keywordtype">float</span> cosY = cosf (angle_y);</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;  point = Eigen::Vector3f (range * sinf (angle_x) * cosY, range * sinf (angle_y), range * cosf (angle_x)*cosY);</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;  point = <a class="code" href="classpcl_1_1_range_image.html#a31c36f147403c0f64e1c3a386b30e229">to_world_system_</a> * point;</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a2388ab60ff312e9034df5e67f899ea97"><div class="ttname"><a href="classpcl_1_1_range_image.html#a2388ab60ff312e9034df5e67f899ea97">pcl::RangeImage::getAnglesFromImagePoint</a></div><div class="ttdeci">void getAnglesFromImagePoint(float image_x, float image_y, float &amp;angle_x, float &amp;angle_y) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:602</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a31c36f147403c0f64e1c3a386b30e229"><div class="ttname"><a href="classpcl_1_1_range_image.html#a31c36f147403c0f64e1c3a386b30e229">pcl::RangeImage::to_world_system_</a></div><div class="ttdeci">Eigen::Affine3f to_world_system_</div><div class="ttdef"><b>Definition:</b> range_image.h:771</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#ad70f36ae057187661eaf644c83844f33">&#9670;&nbsp;</a></span>calculate3DPoint() <span class="overload">[3/5]</span></h2>

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          <td class="paramtype">float&#160;</td>
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          <td class="paramtype">Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>point</em>&#160;</td>
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<p>Calculate the 3D point according to the given image point and range </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">image_x</td><td>the x image position </td></tr>
    <tr><td class="paramname">image_y</td><td>the y image position </td></tr>
    <tr><td class="paramname">range</td><td>the range </td></tr>
    <tr><td class="paramname">point</td><td>the resulting 3D point </td></tr>
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<dl class="section note"><dt>注解</dt><dd>Implementation according to planar range images (compared to spherical as in the original) </dd></dl>

<p>重载 <a class="el" href="classpcl_1_1_range_image.html#aa9e97e7487ac21a77075b5f8b64ca205">pcl::RangeImage</a> .</p>
<div class="fragment"><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;{</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="comment">//cout &lt;&lt; __PRETTY_FUNCTION__ &lt;&lt; &quot; called.\n&quot;;</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keywordtype">float</span> delta_x = (image_x+<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (image_offset_x_)-center_x_)*focal_length_x_reciprocal_,</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        delta_y = (image_y+<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_range_image.html#a1518af9f1c9eb6ac259be92824842e23">image_offset_y_</a>)-<a class="code" href="classpcl_1_1_range_image_planar.html#a61fa15b24e42e2be6f4440c2b8e396ab">center_y_</a>)*<a class="code" href="classpcl_1_1_range_image_planar.html#a664df606b14bc13081320a248ccd553d">focal_length_y_reciprocal_</a>;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  point[2] = range / (std::sqrt (delta_x*delta_x + delta_y*delta_y + 1));</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  point[0] = delta_x*point[2];</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  point[1] = delta_y*point[2];</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  point = <a class="code" href="classpcl_1_1_range_image.html#a31c36f147403c0f64e1c3a386b30e229">to_world_system_</a> * point;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a1518af9f1c9eb6ac259be92824842e23"><div class="ttname"><a href="classpcl_1_1_range_image.html#a1518af9f1c9eb6ac259be92824842e23">pcl::RangeImage::image_offset_y_</a></div><div class="ttdeci">int image_offset_y_</div><div class="ttdef"><b>Definition:</b> range_image.h:778</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_planar_html_a61fa15b24e42e2be6f4440c2b8e396ab"><div class="ttname"><a href="classpcl_1_1_range_image_planar.html#a61fa15b24e42e2be6f4440c2b8e396ab">pcl::RangeImagePlanar::center_y_</a></div><div class="ttdeci">float center_y_</div><div class="ttdoc">The principle point of the image</div><div class="ttdef"><b>Definition:</b> range_image_planar.h:212</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_planar_html_a664df606b14bc13081320a248ccd553d"><div class="ttname"><a href="classpcl_1_1_range_image_planar.html#a664df606b14bc13081320a248ccd553d">pcl::RangeImagePlanar::focal_length_y_reciprocal_</a></div><div class="ttdeci">float focal_length_y_reciprocal_</div><div class="ttdoc">1/focal_length -&gt; for internal use</div><div class="ttdef"><b>Definition:</b> range_image_planar.h:211</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a1acc16b4b5fb7071175bada62a5b75d0">&#9670;&nbsp;</a></span>calculate3DPoint() <span class="overload">[4/5]</span></h2>

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<p>Calculate the 3D point according to the given image point and range </p>
<div class="fragment"><div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;                                                                                                    {</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;  point.range = range;</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;  Eigen::Vector3f tmp_point;</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;  <a class="code" href="classpcl_1_1_range_image_planar.html#a1acc16b4b5fb7071175bada62a5b75d0">calculate3DPoint</a> (image_x, image_y, range, tmp_point);</div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;  point.x=tmp_point[0];  point.y=tmp_point[1];  point.z=tmp_point[2];</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a0f969bd0149b7848f0f26b44bb88035c">&#9670;&nbsp;</a></span>calculate3DPoint() <span class="overload">[5/5]</span></h2>

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<p>Calculate the 3D point according to the given image point and the range value at the closest pixel </p>
<div class="fragment"><div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;{</div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;  <span class="keyword">const</span> PointWithRange&amp; point_in_image = <a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a> (image_x, image_y);</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;  <a class="code" href="classpcl_1_1_range_image_planar.html#a1acc16b4b5fb7071175bada62a5b75d0">calculate3DPoint</a> (image_x, image_y, point_in_image.range, point);</div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#abd9ed7e2765d0f7cbb64ae9c890543e2">&#9670;&nbsp;</a></span>copyTo()</h2>

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          <td class="paramtype"><a class="el" href="classpcl_1_1_range_image.html">RangeImage</a> &amp;&#160;</td>
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<p>Copy *this to other. Derived version - also copying additonal <a class="el" href="classpcl_1_1_range_image_planar.html" title="RangeImagePlanar is derived from the original range image and differs from it because it&#39;s not a sphe...">RangeImagePlanar</a> members </p>

<p>重载 <a class="el" href="classpcl_1_1_range_image.html#a454c9018fc001c85e9d8df6900ceb0f6">pcl::RangeImage</a> .</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a47fc71b0700792cb0b078e9bbbc537f5">&#9670;&nbsp;</a></span>createFromPointCloudWithFixedSize()</h2>

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          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>di_focal_length_x</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>di_focal_length_y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Affine3f &amp;&#160;</td>
          <td class="paramname"><em>sensor_pose</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">CoordinateFrame&#160;</td>
          <td class="paramname"><em>coordinate_frame</em> = <code>CAMERA_FRAME</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>noise_level</em> = <code>0.0f</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>min_range</em> = <code>0.0f</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Create the image from an existing point cloud. </p><dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">point_cloud</td><td>the source point cloud </td></tr>
    <tr><td class="paramname">di_width</td><td>the disparity image width </td></tr>
    <tr><td class="paramname">di_height</td><td>the disparity image height </td></tr>
    <tr><td class="paramname">di_center_x</td><td>the x-coordinate of the camera's center of projection </td></tr>
    <tr><td class="paramname">di_center_y</td><td>the y-coordinate of the camera's center of projection </td></tr>
    <tr><td class="paramname">di_focal_length_x</td><td>the camera's focal length in the horizontal direction </td></tr>
    <tr><td class="paramname">di_focal_length_y</td><td>the camera's focal length in the vertical direction </td></tr>
    <tr><td class="paramname">sensor_pose</td><td>the pose of the virtual depth camera </td></tr>
    <tr><td class="paramname">coordinate_frame</td><td>the used coordinate frame of the point cloud </td></tr>
    <tr><td class="paramname">noise_level</td><td>what is the typical noise of the sensor - is used for averaging in the z-buffer </td></tr>
    <tr><td class="paramname">min_range</td><td>minimum range to consifder points </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;{</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="comment">//std::cout &lt;&lt; &quot;Starting to create range image from &quot;&lt;&lt;point_cloud.points.size ()&lt;&lt;&quot; points.\n&quot;;</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = di_width;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = di_height;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  center_x_ = di_center_x;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <a class="code" href="classpcl_1_1_range_image_planar.html#a61fa15b24e42e2be6f4440c2b8e396ab">center_y_</a> = di_center_y;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  focal_length_x_ = di_focal_length_x;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <a class="code" href="classpcl_1_1_range_image_planar.html#aa329fde53679199bc7b295ad324d2d27">focal_length_y_</a> = di_focal_length_y;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  focal_length_x_reciprocal_ = 1 / focal_length_x_;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <a class="code" href="classpcl_1_1_range_image_planar.html#a664df606b14bc13081320a248ccd553d">focal_length_y_reciprocal_</a> = 1 / <a class="code" href="classpcl_1_1_range_image_planar.html#aa329fde53679199bc7b295ad324d2d27">focal_length_y_</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#af5c0908bfbe060fdb517728fe56b2c55">getCoordinateFrameTransformation</a> (coordinate_frame, <a class="code" href="classpcl_1_1_range_image.html#a31c36f147403c0f64e1c3a386b30e229">to_world_system_</a>);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a31c36f147403c0f64e1c3a386b30e229">to_world_system_</a> = sensor_pose * <a class="code" href="classpcl_1_1_range_image.html#a31c36f147403c0f64e1c3a386b30e229">to_world_system_</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#ada8177479f0e95999a66294db4c0c3eb">to_range_image_system_</a> = <a class="code" href="classpcl_1_1_range_image.html#a31c36f147403c0f64e1c3a386b30e229">to_world_system_</a>.inverse (Eigen::Isometry);</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> size = <a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>*<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.clear ();</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (size, <a class="code" href="classpcl_1_1_range_image.html#a51bf019906a3256038561354d6b95885">unobserved_point</a>);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keywordtype">int</span> top=<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>, right=-1, bottom=-1, left=<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a56655a55b4c83c7ce301ca0f020759b4">doZBuffer</a> (point_cloud, noise_level, min_range, top, right, bottom, left);</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="comment">// Do not crop</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="comment">//cropImage (border_size, top, right, bottom, left);</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a08d6ccfef80c3788102327df618a3fbf">recalculate3DPointPositions</a> ();</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud&lt; PointWithRange &gt;::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud&lt; PointWithRange &gt;::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud&lt; PointWithRange &gt;::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud&lt; PointWithRange &gt;::points</a></div><div class="ttdeci">std::vector&lt; PointWithRange, Eigen::aligned_allocator&lt; PointWithRange &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a08d6ccfef80c3788102327df618a3fbf"><div class="ttname"><a href="classpcl_1_1_range_image.html#a08d6ccfef80c3788102327df618a3fbf">pcl::RangeImage::recalculate3DPointPositions</a></div><div class="ttdeci">PCL_EXPORTS void recalculate3DPointPositions()</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a51bf019906a3256038561354d6b95885"><div class="ttname"><a href="classpcl_1_1_range_image.html#a51bf019906a3256038561354d6b95885">pcl::RangeImage::unobserved_point</a></div><div class="ttdeci">PointWithRange unobserved_point</div><div class="ttdef"><b>Definition:</b> range_image.h:780</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a56655a55b4c83c7ce301ca0f020759b4"><div class="ttname"><a href="classpcl_1_1_range_image.html#a56655a55b4c83c7ce301ca0f020759b4">pcl::RangeImage::doZBuffer</a></div><div class="ttdeci">void doZBuffer(const PointCloudType &amp;point_cloud, float noise_level, float min_range, int &amp;top, int &amp;right, int &amp;bottom, int &amp;left)</div><div class="ttdoc">Integrate the given point cloud into the current range image using a z-buffer</div><div class="ttdef"><b>Definition:</b> range_image.hpp:230</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_ada8177479f0e95999a66294db4c0c3eb"><div class="ttname"><a href="classpcl_1_1_range_image.html#ada8177479f0e95999a66294db4c0c3eb">pcl::RangeImage::to_range_image_system_</a></div><div class="ttdeci">Eigen::Affine3f to_range_image_system_</div><div class="ttdef"><b>Definition:</b> range_image.h:770</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_af5c0908bfbe060fdb517728fe56b2c55"><div class="ttname"><a href="classpcl_1_1_range_image.html#af5c0908bfbe060fdb517728fe56b2c55">pcl::RangeImage::getCoordinateFrameTransformation</a></div><div class="ttdeci">static PCL_EXPORTS void getCoordinateFrameTransformation(RangeImage::CoordinateFrame coordinate_frame, Eigen::Affine3f &amp;transformation)</div><div class="ttdoc">Get the transformation that transforms the given coordinate frame into CAMERA_FRAME</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_planar_html_aa329fde53679199bc7b295ad324d2d27"><div class="ttname"><a href="classpcl_1_1_range_image_planar.html#aa329fde53679199bc7b295ad324d2d27">pcl::RangeImagePlanar::focal_length_y_</a></div><div class="ttdeci">float focal_length_y_</div><div class="ttdoc">The focal length of the image in pixels</div><div class="ttdef"><b>Definition:</b> range_image_planar.h:210</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a8b9b678a491ddefc1109494157e0aa83">&#9670;&nbsp;</a></span>getImagePoint() <span class="overload">[1/8]</span></h2>

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<p>Same as above </p>
<div class="fragment"><div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;{</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;  <span class="keywordtype">float</span> range;</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;  <a class="code" href="classpcl_1_1_range_image_planar.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (point, image_x, image_y, range);</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_range_image_planar_html_a7a53bfc9f4a3365ee8e62513ae37eb5c"><div class="ttname"><a href="classpcl_1_1_range_image_planar.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">pcl::RangeImagePlanar::getImagePoint</a></div><div class="ttdeci">virtual void getImagePoint(const Eigen::Vector3f &amp;point, float &amp;image_x, float &amp;image_y, float &amp;range) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:352</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a7a53bfc9f4a3365ee8e62513ae37eb5c">&#9670;&nbsp;</a></span>getImagePoint() <span class="overload">[2/8]</span></h2>

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<p>Get imagePoint from 3D point in world coordinates </p>
<div class="fragment"><div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;{</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;  Eigen::Vector3f transformedPoint = <a class="code" href="classpcl_1_1_range_image.html#ada8177479f0e95999a66294db4c0c3eb">to_range_image_system_</a> * point;</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  range = transformedPoint.norm ();</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;  <span class="keywordtype">float</span> angle_x = <a class="code" href="classpcl_1_1_range_image.html#a17835570c515cca3ba1ecd0f132bf013">atan2LookUp</a> (transformedPoint[0], transformedPoint[2]),</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;        angle_y = <a class="code" href="classpcl_1_1_range_image.html#a6cb20514cdc04674448a5e5c6cb373bc">asinLookUp</a> (transformedPoint[1]/range);</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#adfd931443541e194f1c53d5f7b1c43e6">getImagePointFromAngles</a> (angle_x, angle_y, image_x, image_y);</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;  <span class="comment">//std::cout &lt;&lt; &quot; (&quot;&lt;&lt;point[0]&lt;&lt;&quot;,&quot;&lt;&lt;point[1]&lt;&lt;&quot;,&quot;&lt;&lt;point[2]&lt;&lt;&quot;)&quot;</span></div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;            <span class="comment">//&lt;&lt; &quot; =&gt; (&quot;&lt;&lt;transformedPoint[0]&lt;&lt;&quot;,&quot;&lt;&lt;transformedPoint[1]&lt;&lt;&quot;,&quot;&lt;&lt;transformedPoint[2]&lt;&lt;&quot;)&quot;</span></div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;            <span class="comment">//&lt;&lt; &quot; =&gt; &quot;&lt;&lt;angle_x&lt;&lt;&quot;,&quot;&lt;&lt;angle_y&lt;&lt;&quot; =&gt; &quot;&lt;&lt;image_x&lt;&lt;&quot;,&quot;&lt;&lt;image_y&lt;&lt;&quot;\n&quot;;</span></div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a17835570c515cca3ba1ecd0f132bf013"><div class="ttname"><a href="classpcl_1_1_range_image.html#a17835570c515cca3ba1ecd0f132bf013">pcl::RangeImage::atan2LookUp</a></div><div class="ttdeci">static float atan2LookUp(float y, float x)</div><div class="ttdef"><b>Definition:</b> range_image.hpp:60</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a6cb20514cdc04674448a5e5c6cb373bc"><div class="ttname"><a href="classpcl_1_1_range_image.html#a6cb20514cdc04674448a5e5c6cb373bc">pcl::RangeImage::asinLookUp</a></div><div class="ttdeci">static float asinLookUp(float value)</div><div class="ttdef"><b>Definition:</b> range_image.hpp:50</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_adfd931443541e194f1c53d5f7b1c43e6"><div class="ttname"><a href="classpcl_1_1_range_image.html#adfd931443541e194f1c53d5f7b1c43e6">pcl::RangeImage::getImagePointFromAngles</a></div><div class="ttdeci">void getImagePointFromAngles(float angle_x, float angle_y, float &amp;image_x, float &amp;image_y) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:425</div></div>
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          <td class="memname">void pcl::RangeImagePlanar::getImagePoint </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>point</em>, </td>
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          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>image_x</em>, </td>
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          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>image_y</em>, </td>
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          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>range</em>&#160;</td>
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          <td>)</td>
          <td></td><td> const</td>
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<p>Calculate the image point and range from the given 3D point </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramname">point</td><td>the resulting 3D point </td></tr>
    <tr><td class="paramname">image_x</td><td>the resulting x image position </td></tr>
    <tr><td class="paramname">image_y</td><td>the resulting y image position </td></tr>
    <tr><td class="paramname">range</td><td>the resulting range </td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>注解</dt><dd>Implementation according to planar range images (compared to spherical as in the original) </dd></dl>

<p>重载 <a class="el" href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">pcl::RangeImage</a> .</p>
<div class="fragment"><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;{</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  Eigen::Vector3f transformedPoint = <a class="code" href="classpcl_1_1_range_image.html#ada8177479f0e95999a66294db4c0c3eb">to_range_image_system_</a> * point;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="keywordflow">if</span> (transformedPoint[2]&lt;=0)  <span class="comment">// Behind the observer?</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  {</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    image_x = image_y = range = -1.0f;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  }</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  range = transformedPoint.norm ();</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  image_x = center_x_ + focal_length_x_*transformedPoint[0]/transformedPoint[2] - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (image_offset_x_);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  image_y = <a class="code" href="classpcl_1_1_range_image_planar.html#a61fa15b24e42e2be6f4440c2b8e396ab">center_y_</a> + <a class="code" href="classpcl_1_1_range_image_planar.html#aa329fde53679199bc7b295ad324d2d27">focal_length_y_</a>*transformedPoint[1]/transformedPoint[2] - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_range_image.html#a1518af9f1c9eb6ac259be92824842e23">image_offset_y_</a>);</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#aac7ef90b9c78876a492fd16701d6578e">&#9670;&nbsp;</a></span>getImagePoint() <span class="overload">[4/8]</span></h2>

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<p>Same as above </p>
<div class="fragment"><div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;{</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;  <span class="keywordtype">float</span> image_x_float, image_y_float;</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;  <a class="code" href="classpcl_1_1_range_image_planar.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (point, image_x_float, image_y_float);</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a86174b766aa77898e0d49ef11f4613b1">real2DToInt2D</a> (image_x_float, image_y_float, image_x, image_y);</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a86174b766aa77898e0d49ef11f4613b1"><div class="ttname"><a href="classpcl_1_1_range_image.html#a86174b766aa77898e0d49ef11f4613b1">pcl::RangeImage::real2DToInt2D</a></div><div class="ttdeci">void real2DToInt2D(float x, float y, int &amp;xInt, int &amp;yInt) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:433</div></div>
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<a id="a9295b795c8f52a90eb3af983612fea8a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9295b795c8f52a90eb3af983612fea8a">&#9670;&nbsp;</a></span>getImagePoint() <span class="overload">[5/8]</span></h2>

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<p>Same as above </p>
<div class="fragment"><div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;                                                                                                     {</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;  <span class="keywordtype">float</span> image_x_float, image_y_float;</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;  <a class="code" href="classpcl_1_1_range_image_planar.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (point, image_x_float, image_y_float, range);</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a86174b766aa77898e0d49ef11f4613b1">real2DToInt2D</a> (image_x_float, image_y_float, image_x, image_y);</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;}</div>
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<a id="a8123412373a87d5030ee5f8a9b3ba3e4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8123412373a87d5030ee5f8a9b3ba3e4">&#9670;&nbsp;</a></span>getImagePoint() <span class="overload">[6/8]</span></h2>

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<p>Same as above </p>
<div class="fragment"><div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;{</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;  <span class="keywordtype">float</span> range;</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;  <a class="code" href="classpcl_1_1_range_image_planar.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (x, y, z, image_x, image_y, range);</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;}</div>
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<a id="a09c81c4b4ffd68fc5742167d15f6af87"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a09c81c4b4ffd68fc5742167d15f6af87">&#9670;&nbsp;</a></span>getImagePoint() <span class="overload">[7/8]</span></h2>

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<p>Same as above </p>
<div class="fragment"><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;{</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;  Eigen::Vector3f point (x, y, z);</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;  <a class="code" href="classpcl_1_1_range_image_planar.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (point, image_x, image_y, range);</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;}</div>
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<a id="a2ba0bfce9adcf8161feec7c59f75082c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2ba0bfce9adcf8161feec7c59f75082c">&#9670;&nbsp;</a></span>getImagePoint() <span class="overload">[8/8]</span></h2>

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<p>Same as above </p>
<div class="fragment"><div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;{</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;  <span class="keywordtype">float</span> image_x_float, image_y_float;</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;  <a class="code" href="classpcl_1_1_range_image_planar.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (x, y, z, image_x_float, image_y_float);</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;  <a class="code" href="classpcl_1_1_range_image.html#a86174b766aa77898e0d49ef11f4613b1">real2DToInt2D</a> (image_x_float, image_y_float, image_x, image_y);</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a32b6b82b559574477544219f4444e12d">&#9670;&nbsp;</a></span>getNew()</h2>

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          <td class="memname">virtual <a class="el" href="classpcl_1_1_range_image.html">RangeImage</a>* pcl::RangeImagePlanar::getNew </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<p>Return a newly created <a class="el" href="classpcl_1_1_range_image_planar.html" title="RangeImagePlanar is derived from the original range image and differs from it because it&#39;s not a sphe...">RangeImagePlanar</a>. Reimplmentation to return an image of the same type. </p>

<p>重载 <a class="el" href="classpcl_1_1_range_image.html#a7bca09c1eb8be12975c47cb6d6233ca5">pcl::RangeImage</a> .</p>
<div class="fragment"><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;{ <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classpcl_1_1_range_image_planar.html#aa9f19352f5b5d4655b20fb976c054d18">RangeImagePlanar</a>; }</div>
<div class="ttc" id="aclasspcl_1_1_range_image_planar_html_aa9f19352f5b5d4655b20fb976c054d18"><div class="ttname"><a href="classpcl_1_1_range_image_planar.html#aa9f19352f5b5d4655b20fb976c054d18">pcl::RangeImagePlanar::RangeImagePlanar</a></div><div class="ttdeci">PCL_EXPORTS RangeImagePlanar()</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a9fc7e3fe0e7c8745b01c81e20a26678a">&#9670;&nbsp;</a></span>getSubImage()</h2>

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          <td class="memname">virtual PCL_EXPORTS void pcl::RangeImagePlanar::getSubImage </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>sub_image_image_offset_x</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>sub_image_image_offset_y</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>sub_image_width</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>sub_image_height</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>combine_pixels</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_range_image.html">RangeImage</a> &amp;&#160;</td>
          <td class="paramname"><em>sub_image</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<p>Get a sub part of the complete image as a new range image. </p><dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">sub_image_image_offset_x</td><td>- The x coordinate of the top left pixel of the sub image. This is always according to absolute 0,0 meaning -180°,-90° and it is already in the system of the new image, so the actual pixel used in the original image is combine_pixels* (image_offset_x-image_offset_x_) </td></tr>
    <tr><td class="paramname">sub_image_image_offset_y</td><td>- Same as image_offset_x for the y coordinate </td></tr>
    <tr><td class="paramname">sub_image_width</td><td>- width of the new image </td></tr>
    <tr><td class="paramname">sub_image_height</td><td>- height of the new image </td></tr>
    <tr><td class="paramname">combine_pixels</td><td>- shrinking factor, meaning the new angular resolution is combine_pixels times the old one </td></tr>
    <tr><td class="paramname">sub_image</td><td>- the output image </td></tr>
  </table>
  </dd>
</dl>

<p>重载 <a class="el" href="classpcl_1_1_range_image.html#a33f4985713cf3f17ac8f8c69c0201729">pcl::RangeImage</a> .</p>

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<h2 class="memtitle"><span class="permalink"><a href="#ae62978a6c6a5f50a794b930d104ebd24">&#9670;&nbsp;</a></span>setDepthImage() <span class="overload">[1/2]</span></h2>

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          <td>(</td>
          <td class="paramtype">const float *&#160;</td>
          <td class="paramname"><em>depth_image</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>di_width</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>di_height</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>di_center_x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>di_center_y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>di_focal_length_x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>di_focal_length_y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>desired_angular_resolution</em> = <code>-1</code>&#160;</td>
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<p>Create the image from an existing depth image. </p><dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">depth_image</td><td>the input depth image data as float values </td></tr>
    <tr><td class="paramname">di_width</td><td>the disparity image width </td></tr>
    <tr><td class="paramname">di_height</td><td>the disparity image height </td></tr>
    <tr><td class="paramname">di_center_x</td><td>the x-coordinate of the camera's center of projection </td></tr>
    <tr><td class="paramname">di_center_y</td><td>the y-coordinate of the camera's center of projection </td></tr>
    <tr><td class="paramname">di_focal_length_x</td><td>the camera's focal length in the horizontal direction </td></tr>
    <tr><td class="paramname">di_focal_length_y</td><td>the camera's focal length in the vertical direction </td></tr>
    <tr><td class="paramname">desired_angular_resolution</td><td>If this is set, the system will skip as many pixels as necessary to get as close to this angular resolution as possible while not going over this value (the density will not be lower than this value). The value is in radians per pixel. </td></tr>
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<h2 class="memtitle"><span class="permalink"><a href="#a07267e36bbb35ec1e4d43d9001884a00">&#9670;&nbsp;</a></span>setDepthImage() <span class="overload">[2/2]</span></h2>

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          <td class="memname">PCL_EXPORTS void pcl::RangeImagePlanar::setDepthImage </td>
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          <td class="paramtype">const unsigned short *&#160;</td>
          <td class="paramname"><em>depth_image</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>di_width</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>di_height</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>di_center_x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>di_center_y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>di_focal_length_x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>di_focal_length_y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>desired_angular_resolution</em> = <code>-1</code>&#160;</td>
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<p>Create the image from an existing depth image. </p><dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">depth_image</td><td>the input disparity image data as short values describing millimeters </td></tr>
    <tr><td class="paramname">di_width</td><td>the disparity image width </td></tr>
    <tr><td class="paramname">di_height</td><td>the disparity image height </td></tr>
    <tr><td class="paramname">di_center_x</td><td>the x-coordinate of the camera's center of projection </td></tr>
    <tr><td class="paramname">di_center_y</td><td>the y-coordinate of the camera's center of projection </td></tr>
    <tr><td class="paramname">di_focal_length_x</td><td>the camera's focal length in the horizontal direction </td></tr>
    <tr><td class="paramname">di_focal_length_y</td><td>the camera's focal length in the vertical direction </td></tr>
    <tr><td class="paramname">desired_angular_resolution</td><td>If this is set, the system will skip as many pixels as necessary to get as close to this angular resolution as possible while not going over this value (the density will not be lower than this value). The value is in radians per pixel. </td></tr>
  </table>
  </dd>
</dl>

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<a id="a751d0027979b31ccb2dbde563c8af11e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a751d0027979b31ccb2dbde563c8af11e">&#9670;&nbsp;</a></span>setDisparityImage()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">PCL_EXPORTS void pcl::RangeImagePlanar::setDisparityImage </td>
          <td>(</td>
          <td class="paramtype">const float *&#160;</td>
          <td class="paramname"><em>disparity_image</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>di_width</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>di_height</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>focal_length</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>base_line</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>desired_angular_resolution</em> = <code>-1</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Create the image from an existing disparity image. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">disparity_image</td><td>the input disparity image data </td></tr>
    <tr><td class="paramname">di_width</td><td>the disparity image width </td></tr>
    <tr><td class="paramname">di_height</td><td>the disparity image height </td></tr>
    <tr><td class="paramname">focal_length</td><td>the focal length of the primary camera that generated the disparity image </td></tr>
    <tr><td class="paramname">base_line</td><td>the baseline of the stereo pair that generated the disparity image </td></tr>
    <tr><td class="paramname">desired_angular_resolution</td><td>If this is set, the system will skip as many pixels as necessary to get as close to this angular resolution as possible while not going over this value (the density will not be lower than this value). The value is in radians per pixel. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<hr/>该类的文档由以下文件生成:<ul>
<li>common/include/pcl/range_image/<a class="el" href="range__image__planar_8h_source.html">range_image_planar.h</a></li>
<li>common/include/pcl/range_image/impl/<a class="el" href="range__image__planar_8hpp_source.html">range_image_planar.hpp</a></li>
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